Imo if you knew how women got pg. In the first place you would know the answer to your own question. I suggest reading a book. I applaud your decision to to have sex, your post made it evident that your not mature enough.

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Hey, na I dont think your going to get pregnante. The reason I say that is because you didnt have actual penetration. If you could get pregnante from touching it, then women would run the risk of gettin pregnante off a toilet seat!(which I hope no one sits on) which isnt going to happen. So just relax your not going to be pregnante.... But read up a lil...Ull be alot more relaxed being more informed about sex and pregnancy. And your being smart, so continue to be smart..Dont have sex till you feel your ready to run the chance of being a momma!
Good luck