Hello, My Boyfriend And I Had Basically No Clothes On,

Hello,
My boyfriend and I had basically no clothes on, we have rubbed our bodies and genitals against each other. He has not ejaculated, I didnt see him having a precum because before we rubbed against each other, I have blowjobbed and handjobbed him...
He still had the condome, but after a minute I saw that he didn't have it anymore. I repeat, he didn't penetrate me, it wasn't inside.
Do I have to take any contraceptive or would I get pregnant from this?
Thanks.