Could Brief Genital Contact Without Ejaculation Cause Pregnancy?

About 2 weeks ago me and my girlfriend were goofing around and I was trying to insert it into the anus but now I am scared that while trying my penis must have slipped and rubbed over the vagina for a while. also there was no long contact and i think that any precum would have been rubbed off when i was trying anal. I am worried is there any chance of pregnency. There was no ejaculation.