Pregnancy possibility?

So I'm a Virgin and so is my boyfriend we both used methods of BC I've been on oral BC for 5 years for medical reasons I never miss a pill and I take it at just about the same time every day. He used a brand new lubricated condom from Trojan. We were going to have sex but he couldn't get his penis to actually go in me (many very awkward moments of fumbling later) we gave up so while he still had the condom on we decided not to waste it so I sat on the shaft of his penis until he came in the condom. I checked the condom wasn't broken nothing was leaking and as soon as he came he told me to stand up so there wasn't a risk of it touching me. With all that being said they grey area worries me. Should I be worried?