Hi, My Boyfriend And I Were Both Fooling Around And

Hi,
My boyfriend and I were both fooling around and we were both naked. We didn't have sex, but I was on top of him and we were rubbing against eachother. He ended up ejaculating on the outside of my vagina. I immediately got a towel and wiped it off and I peed afterwards aswell and washed up. We both are very worried incase there is a possible chance of pregnancy. We are not ready for a child yet. Please answer ASAP thankyou.