If there is no penetration and no emission of maniy (semen), then your fast is valid and you do not have to do anything else.
As for madhiy (prostatic fluid), emission thereof does not invalidate the fast according to the more correct of the two scholarly opinions, which is the view of Abu Haneefah and al-Shaafa’i (may Allaah have mercy on them). See also question no. 37715.
The fasting person may play with his wife, kiss her, embrace her and touch her, if he is certain that he will not ejaculate or have intercourse. See question no. 49614.
And Allaah knows best.