Although it's not nearly as likely, you CAN get pregnant with just penetration. Precum sometimes has sperm in it that were left over from the last ejaculation, and it is therefore possible to get pregnant that way. Condoms are a good idea no matter how effective your other methods of birth control are, because they protect you from disease.
As for the discharge, the beige coloring is probably from a teeny amount of blood from getting fingered. Blood turns brown after a while (it rusts), and so a very small amount of old blood could create a beige color.
Ps I did have sex for the first time four days ago but I can assure you guys I am not pregnant as there was definitely penetration but no ejaculation. Maybe that has something to do with it too ?