Thanks for trusting ATD about your health care.
I can understand your concerns.
No the chances of pregnancy are not there in your case as you had no penetration and precum is also outside the vagina.
For pregnancy to be happened it should be penetrated sex and sperm should be deposited inside the vagina.
Hope it is useful, feel free to discuss more questions.
These Q&A’s are for educational purposes and should not be relied upon as a substitute for medical advice you may receive from your physician. If you have a medical emergency, please call 911. These answers do not constitute or initiate a patient/doctor relationship.