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There is no chance of pregnancy from your description.

- -Your boyfriend would need to ejaculate in order for a pregnancy to occur.
- Pre-cum does not contain sperm (there are certain situations that it might, this is not one of them).
- Sperm can not penetrate through one layer of clothing (and you had a combined four layers)

Please re-read this article, as all of this information is explained directly above your question.