Dear Ashley,
You can relax. Rest assured, you're OK.
I'm Dr. Neel Kudchadkar and I will directly answer your question by asking you a very important question: "How long ago did this sexual encounter occur?" If it has occurred within a day or so of your posting this question, then I would advise you to take "Levonorgestrel" - popularly called as the "morning-after" pill.
The facts are that you're probably safe and secure, nevertheless, it just happens to be that sperms do not need to be inserted into the vagina for
pregnancy to occur. The semen, if deposited on the
vulva, has a VERY LOW AND REMOTE chance of getting you pregnant. This is so rare that I'd say that you could not become pregnant like this.
Please take the medication described above under the supervision of a local physician. Feel free to contact me directly at this link:
http://doctor.healthcaremagic.com/doctors/dr-neel-kudchadkar/69838
Thanks for your faith in HealthcareMagic.
Take care of your health.