Is it possible to be pregnant?

A few days ago i was playing with my fiancee and i would rub him and he would have precum remnants. I continued to touch him and then would rub myself (no penetrating) sometimes with the same hand. He ejaculated once (on himself) and he would wipe it down, and then the touching would continue again. The second time he ejaculated and cleaned himself i started to rub my vagina on his penis. Is it possible to somehow become pregnant if there were remnants of cum/precum on him even after he wiped and i was rubbing myself on him.

p.s i am a virgin but im aware that there is some probability of becoming pregnant without intercourse.

Any help is appreciated.