Can I get pregnant from fooling around?

Me and my boyfriend were fooling around naked and we were careful not to touch down there with our genitals, but I gave him a hand-job and made sure that we didn't touch genitals at all, and when he came I made sure we didn't get it anywhere except on his upper body and then we washed our hands, but I'm still scared about getting pregnant. Could I get pregnant even though we didn't have sex and were careful? D: