Is Pregnancy Possible Without Penetrative Intercourse?

Hii, I m 20 yrs old and I had sex with my bf ,but it was not actually a proper one because it doesn t enterd his penis properly only he touched or rub on vaigina and he also wears condom .during all this he release his semen in the condom and rapidly sit aside , but he doubts that some amount of semen drops or entered into vagina , and this sex had on 24 april 1 pm so due to his doubt today means 27 april I take an emergency contraceptive unwanted 72 after 71 hours means today at 12 pm , now please tell me is there any chances of getting pregnant and my periods date is 10 may so tell me that my normal periods will occur or not I m safe or not , I m sooo worried please help me