Does rubbing penis uncovered without clothing unto a woman's vulva region covered with clothing in a standing position facing each other makes her pregnant? Is it compulsory that precms comes everytime a guy is aroused?

A guy gets aroused and fools around with a woman. And he takes out his aroused penis and rubs it holding the shaft part noy the glans or the tip and there was no visible precm on dat portion (glan and tip), and later he puts the same hand into the woman's panty and touched near the mons pubic area and went a bit down till the outer lip of vulva.The girl was also aroused and was wet around the mons pubic area with vaginal fluid.Can invisible sperm from the guy's hand gets onto the vaginal fluid near the mons pubic area and swim into the vagina? Can she become pregnant?

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Tags:

• Sex 101