I feel bad about what happened?

my bf and i are starting to get real intimit and i freaked out. i got carried away when i was giving him a hj. i normally do it over his boxers but i started touching him under. i wont lie i did enjoy it and he seemed like he did too. but i got nervous bec i didnt want to go that far and i had. was afraid if i touched myself or he touched me that i would get preg. so i made him walk to a store where their was a bathroom. i got really nervious and i can tell he got really offended. its just that my mom always told me stuff like touching can equal preg when i was in highschool. just have a fear of getting preg. especailly after what happeded to my causins. :( we had a talk and he did admit after i asked him to completly honest. i really want to make up for it. but was i wrong for feeling this way?