I would say based on you being fully clothed, that the chances are slim to none that you could be pregnant based on that event. If there was a chance for semen to have had direct contact with your vaginal area, even without penetration, then there's a slightly increased chance of pregnancy, but not much. If you are concerned, you should take a pregnancy test or see your doctor for a blood test.
From Livelyfe: This happened in February! So I had already missed a period in January!