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Hello Anon,

Thanks for reaching out to EmpowHer.
It's not possible she is pregnant from what you described to be dry humping. Clothes act as a barrier to keep any ejaculated semen from entering her vagina.
Many things can cause a late period, stress or illness are common reasons.

This link may prove helpful to you in the future.
https://www.empowher.com/pregnancy/content/am-i-pregnant-myths-and-facts-about-sex

I hope this helps!
Best,
Helena