No. [Dry humping cannot lead to pregnancy.] (https://www.bedsider.org/features/95) Since sperm cannot swim through clothing, getting pregnant while clothed (and that, of course, means while wearing clothing that prevents penetration—a mini-skirt pulled up around your waist doesn't count!) would be very unlikely. Sperm exposed to air lose their ability to swim and can only live a few hours or less. Wearing or touching clothes with dry semen cannot lead to pregnancy.