I had dry humping with clothes on. He rubbed his penis on my vagina and we both are wearing cotton shorts . He ejaculated on my pants and his sperm is very near to my vagina but i was in my pants.

I cleaned my pant ( the area where he ejaculated) with a soft cloth and with the same cloth i cleaned my vagina
I am worried that cleaning the sperm with same cloth leads to pregnancy? Or his foreplay and rubbing activity on my vagina results in pregnancy?
I was in cotton shorts all the time but they are very porus .. is it possible for a sperm to pass a single layer clothing and swim to vagina ?