Thank you for your query.
WIthout penetrative vaginal sex, there are no chances of conceiving.
Also you had your undergarments on, so please do not worry unnecessarily about this.
However, please ensure you have protection always in the future.
Take care, and read up a bit about pregnancy
, intercourse etc, so that you do not unnecessarily lose sleep over such incidents .
In the rare event that you do miss your period, be sure to take a pregnancy test at the earliest.
WIsh you well.