Im not worried about getting her pregnant or stds i just dont know really what happened. I had shorts on and my girlfriend got on top of me and dry humped me. My penis might have stuck out of my shorts waistband a little maybe because I had a boner and I usually tuck it in my waistband. She had shorts and a thong on. I felt my penis going between her vagina crevise like rubbing back and forth since we were dry humping. So did my penis penetrate her vagina??? or just dry hump?? I don't really know what penetration is. She already said she knows we didn't have sex or anything.