Hi and welcome to HCM...
I thank you for posting your query here and I'm definitely going to help you out..
I being a surgeon, we encounter so many such cases day in and day out..
I read your question completely and have understood it well enough..
I will analyze all your points and give the best possible explanation..
1. Semen on hand.
Semen Penetration into vagina leads to
pregnancy..
2.
Yoga pants, underwear and pants on.
But poking of hand into vagina.
To be honest, there's absolutely no way you can be pregnant with this scenario..
3. With all these things on, there is no way that the semen and hence sperm could have entered in!
And hence I suggest you not to worry about it at all..
4. Just forget this..
We come across so many such cases.
And I can say with certainty that, you are safe.
5. There would have been a question mark if you had not wore any of the mentioned things.
Now, it's impossible..
Just chill..
Hope this helps you, in case you need any further assistance, please let me know..
Take care and God bless.