Grinding Naked And Precum

So me and my boyfriend were grinding naked without a full ejaculation, condom, and penetration. I was on top of him on tje shaft and tip (sorry for TMI). He has urinated through out the day even before we were in the act. He did however have precum on the tip but I am also a very naturally lubricated person too. Can you get pregnant from the precum on your vagina or does it have to be in your vagina to get pregnant?