Hello, Anon! Thank you for posting today.
For all intents and purposes, there is a risk of pregnancy when a woman has unprotected sexual intercourse with ejaculation that enters the vagina. The highest chance for this is during ovulation. Touching you with underwear on will not cause pregnancy. Pre-ejaculate fluid does not contain sperm unless a man has not urinated since his last ejaculation. One he urinates any sperm is flushed out. Even if there was anything on his fingers, sperm is not designed to pass through clothing.