If there was no penis or finger or anything inside some girls vagina, is pregnancy possible?

Maybe: All it takes to establish a pregnancy is for fertile sperm to gain access to a fertile egg. The normal routine would require penile insertion, but if sperm containing fluids make it inside, however it happens, a pregnancy is possible.

Not likely: If as you describe, pregnancy would be doubtful. Doubtful does not mean 0% chance, but again, not likely. If you are not ready to be pregnant, you may wish to consider your birth control options and modify your activity accordingly.

In order to become: Pregnant, sperm has to be deposited in the vagina.