It's always better to use condoms, whether it's 'complete sex' or not, as preseminal fluid contains some sperms. Following an unprotected sex, to avoid pregnancy
, Emergency Contraceptive
Pills (Unwanted72 , iPill
etc) may help, if used with in 72 hours. However overuse of the same cannot be advised due to the side effect profile.
If you are in doubt, confirm with a simple Urine Pregnancy Test, and if it's positive don't be panic and go for any drastic measures,get an expert help.