Can Sperm Pass Through Two Layers Of Clothing And Cause Pregnancy In This Scenario?

My man wore a lite material pant and i wore a leggins and a pantees. He has some stiffness in his liquid from penis( the semen seemed to be dried but I m not sure about that). He touched his penis upon 1 layer of cloth and then touched my vagina upon the 2 layers of clothes. Please kindly answer my below questions (1) in this case is it possible to get pregnant? (2) is sperm pass through 2 clothes from hand to vagina (ie pantees & leggings).