In the Name of Allah, the Most Gracious, the Most Merciful.
As-salāmu ‘alaykum wa-rahmatullāhi wa-barakātuh.
Ghusl (taking a bath) becomes Fard by the ejaculation of semen whether or not intercourse took place. Once the private part of the male is inserted into the private part of the female, Gusl becomes Fard whether or not semen is discharged. (Bahishti Zewar Vol. 1 Pg.72-73).
Playing with the private parts of your marital partner is foreplay and is commendable.
And Allah Ta’āla Knows Best
Mufti Saeed Ahmed Golaub
Islamic Solutions
Jamaica