If the p***s touches the woman's genitals with some precum on it could that cause the precum to go into the v****a?

Answer 1

It is possible that some pre c*m may get into the v****a be feel reassured that, generally speaking, pre c*m doesn't contain sperm. Pre c*m usually only contains sperm if there was any sperm leftover in the glands of the p***s from a pervious ejaculation. However, this leftover sperm is easily washed out during urination.
Your odds of your girl being pregnant are quite low if at all. I wouldn't lose any sleep over it, but what I would do is don't even get close to her v****a without a condom on next time and every time after that! You'll save yourself a lot of stress.