Chances of getting pregnant

Hey guys! Im trying to use this app, I just installed it so I'm sorry if I do look like some newbie.

My question is if I should be worried or not with the possibility of being pregnant.

So I take my birth control for years and only became sexually active like 2 months ago. While on the pill me and my bf always use condoms bc I'm really paranoid. It's just the other day I completely forgot to take the pill (like really skipped it) and in that specific day, earlier, me and my bf made some stuff. So, there was no penetration and there was no ejaculation. Basically I performed masturbation (for little little time) with my vagina on his penis. So, there was the possibility of having pre cum (we don't remember if it had or not).

Considering the facts, how worried should I be?

Ive searched online about the chances of getting pregnant with pre cum and without penetration and the answers (even from doctors) appear to be mixed.

My bf and some friends say that it's really unlikely, almost impossible. But honestly, Im just really worried. Should I be?

Thank you so much for anyone that helps!