Can Having Non Penetrative Sex Cause Pregnancy?

My boyfriend and I were fooling around last night and attempted to have sex.
He rubbed me inside and out with spermicided wipes and began to rub his penis on my vagina to help him get an erection... He did not get a full erection but a little pre cum came out around my clit and none around my inner area bit I'm still worried...now I am a virgin and was wondering what the chances are of me getting pregnant?