Does it count as zina if a man and woman kiss and touch, then the man refuses penetration and only inserts his finger?

What you did, kissing and touching that woman, is an ugly, forbidden act that necessitates immediate repentance, accompanied by remorse and a firm resolve not to return to it, and to stay away from the causes of temptation. The fornication (zina) that incurs the legal punishment (hadd) is penetration. As for its preliminaries, such as touching, kissing, and inserting a finger into the private parts, these are forbidden and are metaphorically called zina, but the perpetrator is not subjected to the punishment of the fornicator. Rather, they are disciplined and admonished. So hasten to repent to Allah and cut off your relationship with this woman.