Dry humping(first time)

My boyfriend stays at my house sometime, we're both 19. This morning a make out sesh turned into a dry humping situation 🤣I just wanted to make him feel good but I'm kinda scared because I know you can get pregnant from doing it because of the fluids going through the clothes and stuff and I finished my period like 3 days ago. Should I worry ? What step am I supposed to take?