My Boyfriend And I Were Fooling Around And His Penis

My boyfriend and I were fooling around and his penis was sort of wet as in pre cum wise ( the clear fluid ). However it did touch my vagina and somewhat of the tip went in I'm just concerned to see if I'm pregnant or not . I need an answer please help ! To be more clear on the situation on the tip of his penis went in and he didn't ever actually cum within 24 hours but I just want to make sure to see if its actually possible to get pregnant off it