No actual sex?

So if me and my S/O are TTC and we sometimes don't have sex but he does stick it in to put semen in me will that still work or do we have to have sex? Idk if I'm making any sense lol. Reason why we do it like that is because sometimes I'm EXTREMELY tired from work and I just want to go to bed... But we really want a baby so we started doing that yesterday. Although I am going to continue having actual intercourse but I'm just asking would the chances of getting pregnant go down by using that method?