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Softened penis

Hello, firstly, thanks everyone in this forum for answering or reassuring me.

I had some sexual activities with my girlfriend yesterday. After some foreplay, I put a condom on my erected penis and preparing for penetration.  But after I had put my condom on my penis, my penis became softened and could not insert into my girlfriend vagina. After that, I had a few grinding with the softened, and with condom, penis around her vaginal area, and there was vaginal secretion/fluid presented from my girlfriend. After that, we decided not to continue the sex due to this unsuccessful erectile :(  I put off the condom after the grinding, and it had not slipped off at all. Moreover, I did not ejaculate at all.

I am now quite scare that my activities mentioned above (softened penis although no penetration, grinding around her vaginal area with vaginal fluid) will make my girlfriend pregnant, though I had not ejaculated, but not sure if there is precum presented. Will my girlfriend get pregnant due to this occasion? Thank you very much again for answers.
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