Pool oops!

I was at the pool today with my boyfriend and things started heating up.i had my legs around his waist (like how you hold a baby or a toddler) and he got a boner well I had the type of shorts on that have the underwear already in them so I was wearing that and well I was on his lap and I could feel his penis in my vagina but we both had bathing suits it didn't go all the way in but I could feel it. I'm really scared just because I don't know if you can get pregnant from that. I know that when a guy gets hard and is about to go off (cum) and holds it in some still comes out anyway I guess my question is can I get pregnant from that even if I had shorts on and he had a bathing suit and boxers on?