Dry humping w/ pre-cum, risk of pregnancy?

Patient : My girlfriend and I were fooling around earlier, and I was down to my boxers and she in her underwear. We never had any direct genital contact nor did I ever ejaculate; there were some dry humping and touching of genitals outside of our undergarents only. During the activity I discovered that I had pre-cum wet spots on my boxers and we very likely have gotten some onto our fingers. Prior to this activity I had masturbated but later urinated twice. Since I did finger her (although outside of her underwear), I'm still concerned with risks of pregnancy. Do I have any reason to worry at all?
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