Yes, you can become pregnant without penetration or ejaculation. The Cowper's Gland releases fluid prior to ejaculation, which cleans out the urethra. This fluid can contain millions of sperm left from the last ejaculation, plus it can also contain pathogens which cause infection, etc. (STDs)
The short answer is that you can’t trust the circumstances, so you have to take control and assure safety by using effective risk reduction to reduce your risk of both pregnancy and disease or infection.
If your period is late, take a home pregnancy test. And it's a good idea to get tested for STDs as well--just to be sure. Dr. J
Could it...yes, but the chance would be very very small.