Tip of penis in gf! pregnant?

I was messing around with my gf and we decided not to go the full way and my penis basically just rested in her, there was no thrusting and I did not enter her properly. I am very worried that I may have gotten her pregant, I realise how stupid it was but at the time it felt right. I didn't feel like I was precumming, would I have known? Would there have been some on the end?

I really would like some advice!