Can Non-penetrative Intercourse Result In Pregnancy?

First of all let me just say i am a virgin! I haven't had a penis penetrate me ever. Now..... Me and my boyfriend were fooling around in our underwear. What I mean by that is i was in my underwear and he was in his boxers. We only rubbed up against each other a couple of times and his penis didn't penetrate. I was wet and he said he had a little sperm on him. I didn't see any sperm on me but is it possible that his sperm could of traveled through his boxers and then through my underwear and into my vagina ? Oh and I am also having lower left abdominal pain and my breast hurt but im supposed to be starting my period soon but could I be pregnant ? Please no stupid answers I really am scared and so his my boyfriend and we plan to be more careful in the future!