help me please

so me and this guy were making out and things got kinda serious. i still had my panties on and he still had his underwear on but he took his penis out of his underwear and rubbed on my panties i’m not sure if his penis touched my vagina besides through the panties. is there anyway i could get pregnant from this? should i take a plan b? this happened three days ago and i think i was ovulation day one but i’m also on birth control but the night we did this i had to double up on birth control because i forgot to take it the night before.