He did pull out
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If he pulled out you shouldn’t be worried but there’s a chance some might of went inside you can take plan b but if he pulled it out then his sperm started coming out you shouldn’t be worried

If you’re not trying to get pregnant then you should take a plan B, pulling out is only effective ab ~70% effective when done perfectly every time. I’m a personal fan of POM but statistically speaking it would be better to be safe than sorry. Best of luck!!