Can I get pregnant?

Ok this is a really stupid question I know... I'm just kinda anxious....
So me and my boyfriend was messing around. Me in my underwear. Him nothing on. So at some point. Things got a little heated. He put penis where my vagina was (keep in mind I'm still in my underwear) and starter thrusting. Not inside of me but I could feel just the underwear kinda go in. And he didn't cum of course.... So what do you think?