He rubbed his penis on my vigina but never put it in, can I still catch something?

Yes you can...

Make sure he doesn't have any...

Yes you can get an STD and you can also get crabs if he has them and/or a yeast infection. You can also get pregnant without intercourse.

You can also get pregnant... as well as get any STD he might have... like Herpes or AIDS that has no cure... as well as any of the other numerous STD's that are out there.