Hello, and I hope I can help you today.
First of all, I want to reassure you, between your negative
pregnancy test and the fact that no penetration took place, that you are most likely not pregnant.
Sperm die when exposed to air, so unless your partner ejaculated right in your vaginal opening, the semen likely was not viable when it came in contact with your vagina. You cannot transfer live sperm on a hand or washcloth for this reason.
Furthermore, it is common to miss your period from
stress, and worrying about pregnancy alone can delay your normal cycle.
If the pregnancy test was not accuracy, it would yield a false positive result rather than negative, especially if you saw the control line (the one that is supposed to appear even if you're not pregnant).
So I think you can rest assured that in your situation that you are not pregnant.
I hope I was able to adequately answer your question today and that this information was helpful.
Best wishes,
Dr. Brown