Is there a possibility I’m pregnant?

So I feel like a lot of posts on here are pretty similar to this and get the same answers but just to help calm my nerves and especially my SOs nerves I gotta ask. We had been having fun in the bed (with clothes on) and he came once but it was inside of his pants. A little later I started grinding on him with just panties on. I didn’t feel any wetness on my vagina but he’s worried I might be pregnant but I didn’t think sperm could really survive long outside of a body and they couldn’t really get through layers of clothing. So is there really anything to worry about? Please no judgement if this seems like a dumb question, but I just need a peace of mind so he’ll have one too.

Edit: I have seen two comments about being sexually educated and for where I’ve grown up I’d say I’m pretty educated and I was just asking because it’s kind of nerve wracking when your SO won’t stop worrying so you need a second opinion of people on here. I don’t want a baby yet so we haven’t even had penetrative sex. We’ve already spoken about being extra cautious when we do (condoms, the pill, etc.) Sorry is this edit seems somewhat rude or defensive but I feel as if some people could take me as sexually naïve. I just have a problem where if others around me worry about something I need extra reassurance is all.