first of all its sometimes even hard to get a girl pregnant if you are inside of her and blow your load...if you were just fuckin around and you didn't even have sex you really have nothing to worry about
as long as no sperm got in her vagina , not problem, as far as her being a virgin if sperm got in she could get pregnant , but if you were dry , I don't think you could be Dad
highly unlikely but there's always that 1 in a million chance. people get pregnant even when the guy pulls out before he cums (pre-ejaculatory fluid), but even in your case, there was no penetration