In terms of sex, foreplay is usually defined as erotic stimulation preceding intercourse.
Take intercourse out of the equation and foreplay’s defined as an action or behavior that precedes an event.
What that “event” entails may not look the same to you as it does to someone else — and that’s perfectly OK.
It doesn’t have to lead to intercourse.
Intercourse doesn’t have to be the main “course” or even on the menu if you don’t want it to be.