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Hello lgs
Thank you for writing! Please just post one time under one name so we can make sure everyone's question gets equal time and attention.
Hi Anon!

Thanks for your post! Did you have sex ed at school? If not, it's a good idea to study on your own so you know how sex and the human body works. You can read books on this or search our own site. This will eliminate a lot of stress than the unknown can cause.
A woman cannot get pregnant unless she has unprotected sex (naked) with ejaculation. She would also have to be ovulating. Sperm will not travel through a layer of clothing to impregnate.

Pre-ejaculate itself does not contain any sperm. Sperm may be inside the urethra if a man ejaculated recently and did not urinate since. If he urinated since he last ejaculated, there is no sperm at all. Pregnancy is very uncommon from pre-ejaculate and the urethra would have to contain sperm at the same time. A woman would also have to be ovulating and engage in unprotected intercourse with ejaculation.

So a pregnancy cannot occur from what you did.

Best,
Susan