Thank you for writing!
If you had underwear on all the time then you will be ok. 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.
If there was no underwear on the second time, there is some risk of pregnancy if the male had not urinated after ejaculation and cleaned himself up.