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Did I have sex? Did I lose my virginity?

Roxanne asks:

I'm 14. My boyfriend rubbed his penis on my vulva and I rubbed my vagina on his penis, but we were both wearing our underwear. Am I still a virgin? Was it sex? I don't even know what it was... I don't want to lose my virginity at such a young age! I hope I didn't lose my virginity to him! Can someone please tell me?

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