No penetration = no pregnancy. Please ask someone about sex, or at least do some research. Its called intercourse, for one thing and uneducated sex is how people get pregnant. If you don't wish to become a father yet you should look into forma of birth control and protection both for your sake and your girlfriend's
Just take a test if she had a period after y'all had outercourse then you should be fine a lot of things can cause a period to be a day late Or even weeks late.