First of all, birth control pills are not to be confused with
emergency contraceptive pills - Birth control pills are to be taken regularly,
as prescribed the doctor or manufacturer, while emergency contraceptives are to be taken within 3 days of unprotected sex.
secondly, rubbing his penis against your vagina is NOT enough to cause a pregnancy. For preg to occur, the semen has to be deposited VERY CLOSE to the cervix, which usually occurs with unprotected, penetrative sex.