Is Pregnancy Possible Through Non Penetrative Sex?

I am 19 years old,and my girlfriend is of same age.Today around 3.pm i and my Girlfriend had Oral sex.However their was a time when after giving myself few strokes on penis through hand,I inserted the same hand and finger into her vagina and helped her masturbate,I did not ejaculate at all during the entire act,But their was a transparent fluid which appeared like lubricant fluid.We did not have intercourse at all.And over Undergarments were on during entire act.Do u think Touching her vagina after touching the lubricant fluid can make her pregnant?please Suggest i am getting worried.is their still time we can do something?I promise to never repeat this in future.But this time please provide me with an solution.