Can pregnancy occur without penetration?

Me and my boyfriend were getting intimate and he ejaculated. we had our clothes on. He got me wet with the ejaculation and I myself was lubricated (had a lots of vaginal flow). We did not had penetration only our genitals touched or were in contact with a little rubbing but we had clothes on. He wore his underpants and lower and I had my panty and leggings. But both of us were wet from both inside out with ejaculation( and remained in it for hours). CAN I GET PREGNANT BECAUSE OF THIS? Please help me and solve my confusion. CAN SPERM OR SEMEN PASS THROUGH CLOTHES ( WET WITH VAGINAL FLOW ALSO) AND GET ME PREGNANT? IS IT POSSIBLE OR ITS JUST A MYTH THAT SPERM CAN PASS THROUGH CLOTHES. IT WAS MY 12TH DAY (LAST PERIOD ON 14/03/18) AND I HAVE A CYCLE OF 32-35 DAYS. Can this add that I will get pregnant because of the rubbing etc. Is it true semen will pass through out clothes and make me pregnant? Was I fertile on 26/03/18 ..last period on 14/03/18, cycle is usually of 32-34 days.HELP ME plz