What you're describing, brief surface contact where penetration didn't fully happen, carries a very low chance of pregnancy, especially since a condom was on for most of it. Sperm needs to actually enter the vagina and reach the cervix, and momentary contact like this rarely manages that.
Health Tips
If your period doesn't arrive around its expected date, or you remain anxious about it, take a home
pregnancy test after the delay or visit a gynaecologist to put your mind at ease.