We did not have penetration, but semen touched near vaginal area and now I am scared. My periods are irregular so waiting is making me more anxious. Is pregnancy possible from this kind of contact?
It's not common but it isn't fully zero either, because if semen is right at the opening near ovulation, sperm can sometimes travel up. If you're worried about an actual chance, best to talk to a gynac who can guide you properly based on your dates.
Try not to panic over it. The risk in this kind of contact is much lower than normal sex, but it's not totally nil. Wait for your period, and if it doesn't come, test calmly. You'll know clearly then.
The chance is low compared to actual intercourse, but not impossible if it's near the opening at the fertile time. Honestly if you're scared, don't keep guessing, just do a test after your missed period or speak to a doctor.
Low chance but I won't say never. These things depend on timing and how much, etc. Instead of stressing, track your period and test if it's late. And if you don't want pregnancy, plan proper protection next time.