This might sound silly but im genuinely confused and a bit worried. There was contact but no actual sex, and now im stressing about whether pregnancy is possible like this. Pls dont judge, just want to understand.
Pregnancy needs the sperm to reach inside, so contact right at the opening can carry a small risk. Not from sitting on a surface or anything like that though. If unsure, a test after your missed period clears it up.
If semen reaches the vaginal opening then yes there is a chance, even without full intercourse. It only needs to get to that area for sperm to swim in. If you are worried about timing, just take a test after your period is due.