Hello nur nabilah
Thank you for writing!
Thanks for your post! Did you have sex ed at school? If not, it's a good idea to study on your own so you know how sex and the human body works. You can read books on this or search our own site. This will eliminate a lot of stress than the unknown can cause.
A woman cannot get pregnant unless she has unprotected sex (naked) with ejaculation. She would also have to be ovulating. Sperm will not travel through a layer of clothing to impregnate and you did not have intercourse.
So a pregnancy cannot occur from what you did.