Sperm cannot pass through clothing fabrics. Unless there was direct skin-to-skin contact with fluids near the vaginal opening, there is zero risk. You are totally fine, dear.
Haan na, starting mein aisi baaton se bahut darr lagta hai. But honestly, agar clothes beech mein hain toh pregnancy bilkul nahi ho sakti. Don't worry at all.
I look back at my younger days and remember having these exact same worries! If you had clothes on, it's absolutely impossible to get pregnant. Relax and don't stress.
I used to worry about this so much when I was younger! Scientifically, sperm needs direct internal access to cause pregnancy. If clothes were on, there's absolutely no chance.