Look, there is something known as “contact pregnancy”, where a woman gets pregnant even though there was no penile penetration of her vagina. Documented cases. I know a community leader has said otherwise in a response to your question, but it’s incorrect.
The chances of getting pregnant without penetration are much lower, but it’s not zero. First, you need to know about sperm survival. Sperm can survive in the female reproductive tract, given a hospitable environment, for 5-6 days. If the environment isn’t hospitable, they only survive in the female body up to about 2 hours. (The female body is more receptive to sperm in the week or so before ovulation, where ph and consistency changes to cervical fluids are more sperm friendly.)
Here’s the important part for your scenario. Outside of the body, sperm only survive about 20 minutes. They require warmth, moisture, and an alkaline ph. The seminal fluid provides this for a limited time, but then the drying and cooling that occurs mean sperm die relatively quickly.
Sperm survival outside the body for two hours is extremely unlikely. Being able to get through two layers of dry clothing (remember they need moisture!) to make their way to the vagina... especially after 2 hours in the open... basically, you have nothing to worry about.
But yes, I will say again that even if you don’t ejaculate right inside a woman’s vagina, contact pregnancy is possible. If preejaculate or seminal fluid is transferred from a hand to her labia, introitus, or vagina there’s a slim chance if pregnancy. It’s certainly not common, but we know it’s not impossible. I could introduce you to couples who were surprised by a baby: “But I thought if there was no penetration there could be no pregnancy!” Nuh-uh. Having said that, what you describe is basically impossible to lead to pregnancy.
Agree with changing the sheets. :)
No. You can't get pregnant by sitting on old sperm. Or new sperm. You get pregnant when a penis goes inside a vagina. It would be wise to invest some time into sex education to understand these things. Also, do you know how to do laundry? Time to change your sheets.