Can Non-penetrative Sex Lead To Pregnancy?

I had a very weird period from May 2-May 6 or 7. I took a test a few days after my period was over just to make sure, and it came out negative. Even though my boyfriend and I have never gone past foreplay I thought I was pregnant so I'm still very traumatized about that pregnancy scare.

We 'foreplayed' again a few days after that test. He placed his hand in his pants to fix his you know what and then he wiped it on his jeans, he wiped it again on my shorts before inserting his fingers.He said there was no pre-***.

I took a test two days after that. Still negative. I'm thinking this is all just the effects of the pregnancy scare a week ago and I'm just traumatized but I just want your opinions. I think I'm supposed to be ovulating around now.. but I'm still feeling dry and my CM isn't clear or a lot.. it's just some drops of white when I wipe with my finger. Usually, there's a lot of CM after my period.. but this time around there's barely any. It feels warm down there and a little dry..

Is there a possibility I could STILL be pregnant? I can't be, right? I mean, we've never had actual sex. Please help me ease my mind. I really don't want to be thinking of these things anymore. It's really hard to concentrate on anything else. :(