Confusing!!/:

So I'm the type of person that freaks out about everything. Literally everything and it gets bad sometimes. My boyfriend and I mess around with each other (clothes off under ware on) , the thing is I've read that even with clothes on you can still get pregnant if your under ware are soaked !! So, yes I know the penis has to go into the vagina to get pregnant. So can I just have a little insight on this? Are you the same way?