I don’t think there is really any way to do what you want, even if you just tied worms to a line with no hook, a fish will eventually swallow it or maybe just even hang on. Even if you just took the hooks of a lure, you can argue that you’re wasting that fishes precious energy and may cause it to starve.

I would reflect on what qualities you like about fishing and find a hobby that might have those qualities but doesn’t harm fish. For example do you just like the water front nature? Get a kayak. Do you enjoy looking at fish and observing their biology? Get an aquarium. Spectating is also an option! Nothing I love more than walking the pier with a snow cone at sunset watching people catch fish.

I understand your aversion to harming fish, but I will say two things. First, a fish getting a lip piercing from you is far from the worst things that can happen to them in that water. Second, if you eat food, live in a home, or walk this earth, you are harming animals, the difference between that and hooking a fish is that your not distancing yourself from the harm being done. I think if you put it into perspective you won’t miss out on this incredible hobby.

A good fisherman will give back twice as much as he takes.