Hlo Doc, Me And My Gf Had Lot Of Rubbing

Hlo Doc,
me and my gf had lot of rubbing and grinding for three days the earlier Nov 27, but when started for intercourse she had severe pain and we stopped it. But we continued rubbing and grinding, when at the climax some semen slipped and fell on her vagina from my condom. She had her regular periods and her last period is from 10th Nov to 14th Nov. Now she missed her period and getting really nervous. Some websites showed that even without intercourse there are some chances of getting pregnant when semen falls on vagina. But we did not had any intercourse. And if in case is it necessary to use any medication at this point of time. Because she missed her period and is it safe to use the medication and what kind to be used, WE are really nervous and this is the first time this is happening. We did not had any intercourse but as mentioned earlier some semen fell on her vagina which is the only concern that is making us nervous, please help us in this regard. Please reply.