Can you get a girl pregnant if your the guy and you came about a half hour before but towel whiped the sperm off but then later attempted to insert the penis and you were weirdly unsuccesful but just?

Id like to comment that the penis was on the vagina for less than 2 minutes, if that, i am just really nervous, i don't know why i did that, it was really dumb. and it was about a week or so after her period. I keep hearing that sperm only lasts for a couple of minutes after an ejaculation, there was plenty of time after, so i figure she is not pregnant, sopposidly i did not penetrate her hymen correctly as well. Edit: I know pretty much pre-cum was not excreted, i was not excited really, at all, maybe alitte, but not close to a full excretion. And if there is a possibility of this happening, can i make the chances lower? this whole thing only happend about 10-6 hours ago. And penetration of the vagina did not really happen, i kinda put it in, but not an actuall penetration.