Over reacting??

So I've been with someone for 2 years and I tried sex recently. I stress about everything and worry about everything. Anyway we have grinded without anything on before and I never thought anything of it. He has put it in before but took it out right away we never intended On actually doing it he would just stick it in but it never went far. A couple days ago he stuck it in without anything kinda far but pulled it out right away after a little he did it again. I was worrying and he just wanted to make me feel better so he bought me plan b a little over the top but it would make me feel better that day we did with a condom. But not for long and he didn't even cum in the condom I'm never nervous on being pregnant I'm only 16 and I don't think there was ever pre cum but I'm just nervous can anyone help me with this.