yes. take an HPT if your period isn't on time. sperm can travel into the vagina if fluids mix, even if there's no penetration. vaginal fluid is specifically made to help sperm travel up through the cervix into the uterus to fertilize an egg, and even when the fluids meet only on the outside there is still a possibility of pregnancy.
I agree with Ashelen, take a test so you will have an answer. The chances of pregnancy may be reduced without penetration but they are certainly still there.
I agree with the ladies above any time sperm comes in to contact with the vagine regardless if there is penatration there is a chance of pregnancy. Chances are reduced, but it is still possible.