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Hi Anonymous,
There is very little chance that sperm had entered into your vagina from what you explained above. Hopefully this settles your nerves and if you have any concerns in the future...pleass visit our website here as we often have the same sort of questions that will hopefully settle your nerves https://www.empowher.com/community/share/outercourse-dry-humping-dry-sex-and-other-sexual-behaviors.

Hope this helps.
Missie