There's penetration... and there's intercourse.
Vaginal penetration can occur via a penis; a finger; or any other object.
Vaginal intercourse (if that's the kind of penetration you're talking about) requires the penis
to go into the vaginal opening. Rubbing the penis on or around the clitoris and/or the labia is not penetration.
Thank You Iam1butterfly. Just wanted clarification as I think many people do confuse vagina with vulva. Thank You again. :) God Bless.