Please help

Can I get pregnant from just rubbing genitals with my Significant other? We rubbed for a few seconds or so, then he put on condom and we continued rubbing. Then I put on baby oil (my bad. I didn't know it was bad) then we continued grinding. He never penetrated nor ejaculated. But I am still worried. He said the condom didn't break tho.. I am not sure because I didn't see. I have bad vision and I took off my glasses.