Very unlikely, but..: Is this "possible"? Maybe, but extremely unlikely. You can be pretty sure there is no pregnancy risk unless actual penile-vaginal penetration, and even then the risk is low (but not zero) if no ejaculation. But it sounds like you're very close to having actual sex, even if you don't yet intend it. Please get onto proper contraception (pill, etc) and have condoms handy for STD protection.
Answered 3/9/2019
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