Hi I Am Much Afraid Of A Semi Sexual Event

Hi I am much afraid of a semi sexual event that took place between me and my cousin infact it was not a sex it was just a feeling. That time I was a child maybe in class 5 and I was sleeping beside my cousin feeling her body she was asleep I was not over her but I was beside her trying to feel her genetials with my leg. I am really sorry for it.

Now my question is that, if by chance precum came in my underwear can she be pregnant ?

I am really worried I cant sleep all night as this question irritates me..