Kinda panicking

So my boyfriend started making out with me and things started to get heated. He turned me on to my stomach and started humping my butt with his underwear on. He said his dick was in the middle of my butt and he came near my crack on the right cheek. I freaked out and started wiping everything with his blanket. Could I still end up pregnant? I'm not on birth control and one day late and probably overreacting but I was just wondering if someone could help