If the situation you were describing is completely accurate, the chances of pregnancy while being fully clothed and in the absence of penetrative sexual intercourse is almost impossible.
With that being said, if you are a sexually active young female who is not prepared for pregnancy, it would be best to speak to a a women's health doctor regarding suitable and safe birth control methods.
There are several options you can choose from and majority of the birth control methods are very effective in preventing an unwanted pregnancy and safe for you as well.
Hope this reassures you.
Regards,
Dr Michelle Chia