(NSFW) Is it bad for me to do foreplay?

Well I have a boyfriend…And we’re a really horny couple. The closest we’ve gotten is where he’s massaged my breasts and played with my nipple but it wasn’t in a place like in a room, we were walking through a park, but it was during our break…I’m not too sure how to explain it….But anyways I’ve been thinking foreplay isn’t really sex….So would it be a bad thing to try out with him? Or mutual masturbation?