Is it possible to get pregnant from a "cock rub"?
ANSWER
Did any of his semen enter your vagina? That's the question you need the answer to. If not, you don't have to worry. If it did, then there is the possibility of pregnancy.
Always use condoms for any kind of sexual activity, to protect against STIs. If you're having intercourse and you want to avoid pregnancy you need more than condoms–birth control pills are the most effective, but nothing is 100% except abstinence.
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Other Positions – "Pregnancy"
Lovemaking is perfectly normal, and in fact highly desirable during pregnancy, but as the pregnancy enters the last trimester, special care must be taken to avoid pressing weight upon the mother’s belly. There are many intercourse positions that honor this condition.
Other Positions – Pregnancy – “The Cradle”(variation – “L”)

“My darling, this loving energy we create will nourish the new being growing so securely in your womb of life. Dear God and Goddess, as we honor Thee, please bless our child.”
More on Tantra & Kama Sutra Sex Positions - Other Positions – "Pregnancy"
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