he never put in his penis into me. but his penis was rubbed again my vagina

"can i be pregnat?" No, not yet - that takes several days. But you could possibly become pregnant. But you have to be specific in what you say!

"we got pretty naked" This is not significant to the question, but how does "pretty naked" differ from "partly naked" or "completely naked"?

"his penis was rubbed again my vagina" If you really mean "vagina", then as "when we eventually stopped he started cumming" his fluids could have mixed with yours and sperm would be able to swim inside.

"he started cumming" Did he produce pre-ejaculatory fluid? Did he ejaculate? What do you mean by "started"?

"i never felt anything go in" What do you mean by "anything"? You would possibly feel his penis going in your vagina, but you would probably not feel fluid going in. Sperm are extremely small.

"im sure it didnt" What didn't? His penis? or his fluid emission? If you are sure nothing went in, then you have no need to worry. You can only get pregnant if sperm enter your vagina. But I don't think you can be sure about sperm.

"when he started cumming ... he just put in his penis back into his pants" So where did his ejaculate go?

"later on he started touching my vagina" If his hands had sperm on them, then it could have been transferred into your vagina.

I imagine the likelihood of pregnancy is low, but you need to elaborate on what you really mean.