Hi,
Welcome to the ehealthforum and I am really glad to help you out.
Your concern is regarding the status of your pregnancy. Pregnancy can occur only when a sperm fuses with an ova or egg. For this the sperms need to be ejaculated inside the vagina or there should be entry of sperms inside the vagina which travel through the cervix and uterus to reach the egg in the fallopian tube.
From the description, chances of pregnancy are less likely because, in this case, a mechanical barrier of cloth was present between the sperms and egg during intercourse and rubbing. So pregnancy is not possible. If you still have any doubt then you can get a blood test for pregnancy done which measures the amount of HCG in the blood and HCG is secreted only in gravid or pregnant females.
It is very difficult to precisely confirm a diagnosis without examination and investigations and the answer is based on the medical information provided. For exact diagnosis, you are advised to consult your doctor. I sincerely hope that helps. Take care.