i was naked and he had his boxers on?

Hi,
Welcome to ehealthforum,
If pre-cum or semen has come in direct contact with vagina (during genital contact or fingering especially during your fertile days), then chances of pregnancy cannot be ruled out completely. There are no studies to prove that sperms can swim through fabrics (unless it is thin and lightly woven and there is ample vaginal wetness). If you have had a ‘normal’ period after the sexual contact, then pregnancy can be ruled out. Wait and watch for your next periods. If you 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.