please dont take this the wrong way, but how old are you? it seems you need some much needed advice on the repoductive system.
You have very high chances of pregnancy if you have unprotected sex with penetration.
But what you describe hunni, you didnt even have sex. Just a little over the clothes action.
When you do have full on sex, please make sure you use a condom to prevent STI and Pregnancy.
Sperm has to contact the egg in order for you to get pregnant.
If there's no sperm, there's nothing to get fertilized. A female cannot get herself pregnant.
If there was no semen from the male then no... and as you were wearing clothes defo NOT......
NO. Semen has to go inside her vagina to carry the sperm for them to be able to swim into her cervix and get to an egg. If the sperm carrying semen does not enter her vagina she CAN NOT get pregnant.