So my boyfriend and I have been going out for 2 years now. When we did it yesterday, he ejaculated on my thigh he wiped his penis off with a towel and tried to make sure there wasn't any sperm left and then he inserted back in me , is their a possibility I can get pregnant?

Not only possible... but a very good chance. Wiping isn't nearly enough on so many levels.

If you are going to play adult games... you owe it to yourself to learn how human reproduction works first.

Yes, pregnancy is possible since there will still be sperm present internally from the previous ejaculation. This is one of the main reasons the withdrawal method fails for people.

If you'd like to lessen the odds, be sure that your boyfriend uses a condom (correctly... meaning no insertion prior, during, or after sex without a condom on) and consider using a reliable form of birth control yourself. Keep in mind that these measures would only lessen the chance as no method of birth control is 100% effective, so if you have sex, even with protection, pregnancy will be a possibility... however slight.

And take a sex ed class please!

It is not only possible, but very likely if you were ovulating at the time.

There is plenty of sperm in the early fluids of having sex before he "pulled it out" and wiping it off, does not deal with any that may still be in track (inside)
Plus then he will have more fluids starting back, on the second round.

Even if you used a condom, there is a 3 to 18 percent change of failure.

So yep, maybe start thinking of baby names, while you are waiting to see if you get a period next month