Can you get pregnant from genital touching?

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My boyfriend rubbed his penis against my vagina a few days ago. The rubbing was only for a few secs. The penis looked dry and he said that he’s sure that he didn’t have any cum or precum coming out, because he can feel when precum is coming out; but, I’m worried. Can I still get pregnant from that?

No, you aren’t pregnant he needs to c*m inside of you
No.
Please read a book to find out how babies are made before you start messing around again.
Actually, you can, but it is very unlikely. Sperm can travel into your vagina, even if it is on the outside. But, you probably aren’t pregnant.
NO. no ejaculation INSIDE vagina, no pregnancy. You’re fine!