Can i get pregnant with genital rubbing?

I’m a virgin and my boyfriend and I would like to keep it that way until marriage. We where messing around like 2 days ago and got to genital rubbing, he was rubbing his penis on my vulva. I don’t know if he had precum while doing it. After that he ejaculated but nowhere near me and wiped his penis very well with wet wipes and tissues and we started rubbing genitals again. Can i get pregnant because of that? Should i take Plan B or is it unnecessary? Please help, i’m just 18 and i’m really scared.