Is this considered sex... what do I do... am I going to end up pregnant?

I was sitting in my boyfriend's lap both was dressed he had gym pants on and shirt I had my under clothes and stretch shorts and shirt on when we were talking about a movie, all of a sudden he scared the crap out of me (I was/am idk now a virgin) he stuck his dick up my woman hole out of no where and I jumped... show more I was sitting in my boyfriend's lap both was dressed he had gym pants on and shirt I had my under clothes and stretch shorts and shirt on when we were talking about a movie, all of a sudden he scared the crap out of me (I was/am idk now a virgin) he stuck his dick up my woman hole out of no where and I jumped back.... it scared me to death. Is that considered sex.
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