i and my partner performed dry humping with jeans and underwear (both of us were wearing it),he masterbated me after that but with dry hands and over my panty...in any case we never slipped out of our underwear and jeans ..can i become pregnant

this is the first time to write here and am extremely shy!!! but i want help... i'm engaged and we just hook up but no sex at all... he's sometimes between the labia majora ''too scientific'' but the head of his penis is completely far and we're too awake to everything and we always dry everything ... he's just between them.. u got it?? he's never inside and no sperms come over this area at all i'm sure... could i be pregnant this way??? but we've been doing this for years.. please reply.. thank you