My Boyfriend And I Have Never Had Penetrative Sex, But

My boyfriend and I have never had penetrative sex, but yesterday he rubbed his genitals on mine and while he didn't ejaculate, we are still scared that I could be pregnant. He was not close to the actual vaginal canal. But when he stopped he had some precum on his genitals. I took a pregnancy test and it was negative. Am I pregnant or are we fine?