There are loads of ways to be intimate without having vaginal intercourse. You can experiment with outercourse, toys, touching, anal sex, or oral sex. Remember that if you want to avoid vaginal sex but are okay with anal or oral sex, you should still use a condom or a dental dam to protect against STIs.
Whatever you decide to do, if you’re going to start experimenting, you should definitely talk with your partner before the heat of the moment about how far you plan to go. Then make sure you both agree that you will stop if things start to heat up too much.