Is there anyway i could get pregnant from this?

My boyfriend and i have ben dating for 5 months. We are 16, and both agreed sex is a no. Not until we know we are both ready. But we do, do other stuff. (Mutual masturbation) Wednesday we were hanging out, and i gave him a hand job. He came on his stomach, i got him a paper towel and he cleaned his self up. He said he was almost positive he cleaned his fingers. But 2 minutes later he was rubbing me through my panties. Is there anyway i could get pregnant from this? I know the whole"If i have to ask i shouldn't be doing it." But i've been told two different stories my whole life. Can someone please tell me. I've been worrying. I've been freaking out. My friends have unprotected sex all the time... think how unlucky it would be if i got pregnant and I'm still a virgin. Im worried and I'm scared. We do this to keep from a risk of baby.. but now I'm arid i could get pregnant..