Hi, and thanks for your medical question on eHealth forum!
No, you should not be worried about getting pregnant. Pregnancy can happen only if there is slight or proper penetration of penis into vagina with ejaculation. However, you should be worried about STDs like herpes and gonorrhea, which can transmit by skin to skin contact too.
So if you have any symptoms such as sores, warts, vaginal itch or discharge, get this investigated immediately. Hope this helps. Take care!
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