Hi I Had Kind Of Sex Yesterday Night. I With

Hi I had kind of sex yesterday night. I with my girl we were making love. I was rubbing my penis on her vagina.I was wearing a condom that time. After sometime when I checked I found out that the condom had come out of my penis. I am afraid if the precum might have touched the vagina as I did not cum. Though I am a little sure that there was no contact of vagina & penis when it was uncovered. But still I don't wanna take any risk. So is it advisable to take emergency pill at this time? Can precum lead to pregnancy? I and my girl are both 21 years old.