Can Non Penetrative Sex Lead To Pregnancy?

hello,
i am a virgin and i have been worried alot since last night about being pregnant, here is the story.

i was with my boyfriend yesterday, we were dry humping and then we had oral sex.
he didn't have any clothes on but i insisted on keeping my underwear and cotton pj pants on.
he ejaculated on the upper part of my body (away from my gential area), however, a drop of semen was dropped on my pants near my knee, the cotton directly absorbed it and it dried at the moment.
(there was no skin to skin genitals contact)
(my genital area was covered all the time since i had my pj pants on during the whole process of everyth)
please help, could i be pregnant from this ??