I played with his penis before touching myself, but both my hand and his penis were dry

Me and my boyfriend were in the car and he was driving I had held his penis and played around with it which was completely dry from what I remember and after my hand was also completely dry after a while he reached down to touch my vagina and rub it and at that time my hand was on his wrist the one i touched hsi penis with but again my hand was dry and so was his however my underwear was a little wet after he rubbed and stuff never went in IM A VIRGIN we held hands then after a great signifcant time he reached down to my vagina andrubbed again wet underwear and his hands were dry from what i rememeber as well my period is like 2-3 days late and usually this does happen to me sometimes its early sometimes late however im juststressing that i may be pregnant but i know i cant this anxiety is driving me crazy and stressed out to the point where i cant even sleep at night also i have been stressedon many things after my last period PLEASE HELP