he started rubbing my vagina, i got home and wiped, pinkish/brownish discharge was on the tissue

I am really worried Me and my boyfriend were in the car and he started rubbing my vagina didnt go in. Since im a paranoid freak I made sure his hands were clean before he put them down there and I even asked him many times and didnt let him touch it until he assured me they were clean and he was rubbing and I been wet already from making out and kissing and stuff so he got done while he was doing that to me and with his other hand cleaning his genital area with a tissue as soon as I saw that I freaked out and made sure that hand didnt come near my area and he didnt put it there I even put hand sanitizer on both his hands and after he took his hand out my pants the clean one He didnt touch my area again. I dont know im just in deep paranoia and I never done these type of sexual activities before in my life so maybe its new and my hormones are messed up idk but a few days after we were just making out and obviously i was aroused underwear wet and when i got home and wiped pinkish/brownish discharge was on the tissue however after that moment NOTHING ever came like that again also idk if my breasts feel tender or what i squeezed them to check and they do feel how they usually feel but I dont know I just keep thinking im pregnant i keep crying stressing so much to the point that i cant even focus in college I dont know im so worried I just keep thinking and creating stuff in my mind. PLEASE HELP and im a virgin he didnt even go in my vagina i didnt even open it that much i was sitting with my legs kinda closed. But I clearly remember his hands were dry.