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Hello Anonymous,

Welcome to EmpowHER. There was no way sperm could have gotten past your leggings and underwear and entered your vagina.

You can learn more about dry humping by reading this,
"SHARE: Outercourse: Dry Humping, Dry Sex and Other Sexual Behaviors"
https://www.empowher.com/community/share/outercourse-dry-humping-dry-sex-and-other-sexual-behaviors

to understand how pregnancy happens, look at
"Am I Pregnant?: Myths and Facts About Sex"
https://www.empowher.com/pregnancy/content/am-i-pregnant-myths-and-facts-about-sex

Regards,
Maryann