Hello, pregnancy only occurs if a male partner ejaculates inside the female vagina, as sperm has to travel all the way to the uterus to fertilize an egg to get implanted. First thing, any kind of unprotected sexual intercourse can not only increase the risk of pregnancy but also other sexually transmitted diseases and infections.However, as you mentioned, you were involved in genital rubbing and did not penetrate inside the vagina, so the chances of pregnancy is low. However if she doesnt get her periods or periods are delayed more than a week, than I would advice you to consult an OBGY and get pregnany test done.But from henceforth, it would be always an good idea to use any kind of contraception before you indulge in any sexual activity.