Could I get pregnant if a guy fingered me a few minutes after he touched his dick (assuming no precum was on it)?

Anonymous
I'm just asking because me and my boyfriend recently slept together naked and while there was no penetration his dick got pretty close to my vagina (but nowhere near the opening). He also rubbed his penis on my vagina while we both wore underwear. My biggest worry though, is the risk of pregnancy from the situation mentioned above. What are my chances?
Could I get pregnant if a guy fingered me a few minutes after he touched his dick (assuming no precum was on it)?
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