Not sure of question: Are you concerned about accidental pregnancy? If no sperm (or pre-ejaculatory fluid) made it to the vicinity of her vulva, then it's very unlikely that she could have conceived. If you are worried about stds, then viruses such as hpv and hsv can be transmitted even with your underwear on, since they live on the skin in your entire groin area.
Answered 2/10/2014
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