Thanks for reaching out to our community!
From what you have described, you can't get pregnant. Actual sexual intercourse and penetration must occur for pregnant to happen.
Even if there was semen, it can dry up in the air and wouldn't cause pregnancy. What you have described is known as dry sex which can't cause pregnancy.
I recommend you check out this article which talks about what can and can't cause pregnancy: https://www.empowher.com/community/share/outercourse-dry-humping-dry-sex...
I hope this helps.