Earlier in the night I gave my boyfriend a hand job, but we went to the bathroom and washed it all over with a rag. And then about an hour or so later he rubbed his penis against my vagina, no precum or ejaculation involved. Could I be pregnant?

Vulva to penis contact does present a pregnancy risk, but I doubt you're pregnant very much. From now on, however, any genital to genital contact = wear a comdom!

I'm not a "Bible Thumper" but I have to say, sex though pleasurable was invented to populate the earth. If you are not ready to populate the earth abstinence is best contraceptives are worst case scenario!