I had pleasuring with my bf & he rubs his on my panty w/out any kind of , can i get pregnant?

We had pleasuring session few days ago, and he rubbed his incidentally against my panty, and he did applied lubricant and my panty was moderately wet. We did not had any kind of s, or bare skin genital contact also i am still a virgin. I am worried, i knew it was normal to worry even though i am prepared, but i just wanted to feed my curiosity how high risk i am exposed to pregnancy . Thanks in advance !