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If semen or pre-cum has not come in direct contact with vagina, pregnancy cannot result. Sperms cannot swim through fabrics (unless it is thin and lightly woven and there is presence of ample vaginal wetness). Wait and watch for your next periods. Look out for development of any new symptoms if pregnancy is suspected. Visit your doctor/gynecologist for further evaluation and assistance if you miss your periods or if you develop any other new symptoms. If pregnancy gets ruled out, and if you are not ready for pregnancy, but intend to remain sexually active, consider visiting your gynecologist to get started on suitable regular birth control measures to be protected (after your periods). Be regular with birth control use as instructed. Avoid having unprotected sexual contact.
Take care.