An erect penis will always have some sperm containing semen. If there is any way that moist semen was able to get into her vagina, the sperm within can swim up into your cervix and get you pregnant. The risk is very low with what you describe, but it is possible. If you plan to engage in such heavy petting, you need to cover the penis with a condom so no semen/sperm can get out.
Answered 4/10/2023
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No ejaculation inside vagina- no pregnancy
Answered 4/10/2023
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