This kind of contact carries a very low pregnancy risk, since sperm doesn't survive well once it's outside the body for even a short time. With your period due in a few days, you're also in a lower-fertility part of your cycle right now.
Next Steps
If your period doesn't start as expected, take a home
pregnancy test about a week after the missed date to be sure.
Health Tips
Ejaculated fluid transferred this way isn't zero risk, so please don't rely on this as a safe practice going forward.