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Hi Anonymous,
You cannot get pregnant from your boyfriend, touching sperm, wiping it off and then touching you! Sperm does not absorb so you are completely safe. If you have any additional concerns, please read out Outercourse article here https://www.empowher.com/community/share/outercourse-dry-humping-dry-sex-and-other-sexual-behaviors.

I hope this helps,
Missie