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Hi, and thanks for your question
No, we really wouldn’t see someone getting pregnant this way. Pregnacy happens when there is direct contact of the genitals like penetrative intercourse of penis in vagina, or direct contact with ejaculate (semen) and the vulva or vaginal opening.
Even if there is contact between genitals but one partner is wearing clothing, pregnancy is not a risk.
We really like the Scarleteen website as they’ve got some great answers to scenarios like the one you’ve presented. Have a look at their site in general, and specifically on their Pregnancy Panic page.
Let us know if this does not answer your question or if you have any more questions or concerns.