Can I get Pregnant with pre semen ?

I’m 18, I’m new to this. I never wanted to be sexually active but it was hard with my boyfriend , I couldn’t help it. I can’t have sexual intercourse because my conscience won’t let me. So my boyfriend and I were grinding (naked) every time he felt like he was going to cum we would stop. But his pre cum was all over my vagina. My friend told me that if pre cum went inside my vagina it could get me pregnant. I’m so worried. What are y’alls opinion ?