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I take it that his naked penis was grinding against your naked vulva. Then there is a real (albeit slight) possibility that any sperm in his precum could have got into your vagina.
However to get pregnant, sperm has to get into your vagina at a fertile time, and if your cycle is regular and your period is due about now, the likelihood is that it was not at a fertile time. For that to happen, you would have had to have ovulated a fortnight later than expected. "Could I possibly get pregnant from that?". The answer must be "yes", but the possibility must be slight.
I hope this helps. If you need clarification, or want to ask more, please do so.
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