Should I be worried?

My boyfriend and I were dry humping with clothes on but I got very wet and I was about to climax when I was on top of him because I definitely felt his penis. Another time that weekend I was pant-less and he fingered me from behind (so like doggy style?) he was clothed. Please be kind this is my first serious relationship and things kinda just happened. Is there any chance I could have gotten pregnant from those activities?