Hey there, Kira- unless semen or pre-ejaculatory fluid soaked through your underwear directly onto her genitals (which, according to your description, this wasn't the case), you don't have a risk of pregnancy here.
Dry Sex may be helpful in the future for deciding the risk level of this kind of activity- however, given that you've expressed a lot of anxiety over these kinds of situations in the past, is it possible that maybe this isn't a right time in your life to be engaging in these kinds of activities? Worrying can't be fun.
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