Currently having a panic attack. Please help.

My boyfriend and I got a little frisky from him playing with my breasts. Well, being the hormonal teens we are, i decided to get up on the arm of my couch and grind on it while my boyfriend kneeled on the floor and played with my breasts.

Well, i was able to reach down and rub the crotch of his pants; Basically I rubbed his penis/jacked him off through his jeans ( but i never touched his bare penis )

After i finished, i got in the floor and we dry humped for a little, and he rubbed the crotch of my jeans; Basically rubbed my vagina through my jeans ( But he never rubbed my bare vagina )

We both had jeans on ( he also had boxers on and I of course had panties on. ) , and our jeans never came off. We NEVER took our pants off, and our pants never slipped down.

I have severe ocd and anxiety issues and I regret even doing this and i swear i wont be doing it again.

Another thing im worried about is after I rubbed the crotch of his pants where his penis was, I had to go pee and didn't wash my hands. Im scares precum/sperm could have travled through his boxers and jeans and onto my hand.

I would like to note he NEVER ejaculated, he was only precumming; We know that because we know that whenever a man gets hard he starts precumming, so we know for sure he was precumming.

Im so scared ill become pregnant from this. Im so so sorry if any of this bothers you ladies, but I really need help.

And worst of all, im ovulating.

Im terrified ill become pregnant from this. Please comment and help me, and please try to be as clear as you can with your comments, not trying to sound rude i just have a really hard time understanding due to the sheer amount of panic im in.

Will I become pregnant from this?