Can a girl get pregnant without losing virginity?only rubbing my penis on its vagina

It is possible if: His penis comes in contact with your introitus (area at the opening of the vagina) & there is either ejaculate or pre-ejaculate present.

Yes if sperm enters : If the boy ejaculates on the vagina and some of the ejaculation makes it to cervix at the right time of ovulation, the girl can get pregnant even without the penis entering the vagina. The chances are small but there.