Welcome to HCM
We understand your concerns
I went through your description. I suggest you not to worry much. You both are clear that you did not have any sexual intercourse. Neither reached orgasm and ejected semen inside vagina. You just touched vagina with your male organ. If that is the case, what is the rreason you think that she might become pregnant? It is not logic at all. Therefore don't unnecessarily worry.
You and your girlfriend might need psychological counseling
which I can provide telephonically. Contact me through customer care at www.healthcaremegic.com.
Hope this answers your query. Available for further clarifications.