Dry humping naked???

My bf asked me to dry hump/grind him naked!! I’m a virgin and I’m ok with this but I read you can get pregnant if his cum gets near your lady bits!! So I’m a little nervous!! I’m not on bc and he’s not crazy about a condom for dry humping/grinding!! He says we’re ok u cant get pregnant from this!! If we do penetrative sex he knows we have to use a condom!! So can u get pregnant from dry humping/grinding naked?? Please no mean comments!! And no I can’t get bc because my mom is super religiously strict and there’s no planned parenthood’s around my area!!