Worried and new to this

Hi guys I'm new to all this and never had sex ed so I'm learning by what my friends experience or what I've heard also Google. So my boyfriend and I were dry humping but I felt something wet between my thighs and through my underwear so I'm assuming that he was excited so I Google about dry humping can have a chance pregnancy ofcourse I'm freaking out can some please tell me if this is possible or what should I do? Do I get a plan b pill? I'm too afraid to ask my own parents