my underwear was wet with sperms near her vagina...

hi, I ejaculated sperm in my Underwear when I and My GF were pretending sex by rubbing my pennis on her vagina by wearing Underwear(Both of us were on underwear). i can say that my underwear was wet b'coz of ejaculation.After sometime, i again tried to have the same sort of fun but this time i took off her underwear and tried to rub my pennis along with my underwear near her vagina but didnt go inside. suddenly, i stopped doing this when i felt that it might be not safe. Is there any chance of pregnancy because of rubbing my pennis along with my underwear which was wet with sperms near her vagina?