Major question please help

Can you get pregnant without getting any semen or sperm near your vagina cause I'm late and I'm getting kind of worried and Im 100 percent positive that none got there, nothing even got on my thighs and I made sure that I washed my hands after, I just gave hand and head and only sat in one of his thighs for like 5 minutes without doing anything and just being best friends cause we were laughing at something that came on tv and I decided to not do him since there was no protection, I'm probably being paranoid and will get my period the next few days but I was just wondering if you could