Can you get pregnant from touching a penis with clothing then touching your clit area with no underwesr

So today me and my boyf were in my house and we were kissing and I got ontop of him we had clothing on and stuff and then I got worried cause I read online if boys are kissing you hard and start moaning the precm will leak out so I pulled down his pants and felt his penis(his underwear was on I touched it when he had it on)and then like 10-20 mins later I touched my clit area while I was shaving my lady parts cause I was trying to shave like under it and then I toatally remember I didn't wash my hands and that makes me worried cause I think you can get pregnant if your kissing and ontop of eachother with clothes on or when I touch his dick then touch my clit area....I'm a total worrier oh my god...so can you please put my mind at rest and could you tell me if I'm getting worried over nothing or do I have anything to worry about...thakks you

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• Sex 101