Rubbing penis on vagina wearing condom, sufficient to avoid pregnancy or any other steps need to be taken before going deep?

Questionable: Condoms often used for birth control, but may have a defect that still allows sperm to get through. Deep penetration is not always needed for pregnancy. Also, some sperm may be in the lubricating fluid before ejaculation. On rare occasions, the condom may come off. The best solution is a condom for the male and some kind of female protection of which there are many.