Chance of Pregnancy?

Hi! So me and my boyfriend had sex for the first time( we lost our virginities to each other) we are both of consenting age and understand sex and how it works. We still are both scared about the possibility of pregnancy. I have been on birth control for about 5 months, we used a condom, and he pulled out before he came. I know the chances are low, is there anything I can do to ease my anxiety? Because although we are of consenting age, our parents would be very upset. Please respond, thank you!