Unlikely: Pregnancy won't happen if the sperm can't get into the vagina, or if the sperm are just a little bit into the vagina and can't swim all the way up into the cervix and beyond. Life sometimes will surprise people, because people having sexual activities are not thinking of the details (like exactly when and where a finger, a penis, or sperm are located). Basically, sperm don't swim through clothes.
Answered 8/1/2020
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