ashamed to be intimate with my SO

I'm 16 and I always grew with my parents telling me scary things about sex like "If you get pregnant you'll ruin your life" and those kind of things, and I still don't want to have sex (which is okay), but I still liked to be intimate with my boyfriend (like touching, no sex) but now thinking about doing something like that again makes me feel guilty, ashamed and scared. It was something I used to enjoy with him but now I can't, I feel guilty and horrible, I want to separate those negative feelings from something I liked