mere rubbing of genitals against each other cannot make one
pregnant unless he has ejaculated semen on ur genitals and the rubbing has made it go inside the vagina.
If you are sure, he hasnt ejaculated and there was no sticky semen in ur vagina following this activity, rest assured, you wont get pregnant.
Next Steps
If you are concerned you may take ipill ASAP or now since it is late you canw ait for the periods to come. If your periods are delayed by even 1 day you can detect pregnancy by doing urine
pregnancy test on early morning sample in a lab. If it is negative, relax, you will get the periods. Procrastination may cause anxiety and this may delay menses too