Hi Mimi !
Thank you for your trust in AlterHéros.
First of all, to get pregnant, it is required that the sperm enters the vagina.
When you are wearing clothes as pants and panties, the sperm can’t pass through it. Furthermore, if your partner wears clothes too, the sperm can’t go through his clothes, yours and get access to your vagina.
However, you said that his penis never enters your vagina, it just touches it.
To be clear, if his penis touches your vagina while he rubs it or he humps you and the two of you are naked, there are small chances that the sperm will get to your vagina and get you pregnant, but it is not impossible.
On a side note, it is important to know that only a contact between your vagina and the reproductive organs of someone else is enough risky to contract an Sexually transmitted infections (STI).
So, if you wear clothes you are safe for any pregnancies. I also recommend you use condoms if you and your boyfriend want to explore genital contacts while naked.
I hope I answered all of your questions.
If you have other questions, don’t hesitate to rewrite us and we will answer you as quickly as possible!
Frédérique, sexology student