Can you get pregnant through sex with underwear on?

Patient's question:

I'd like to ask, my boyfriend and I just touched each other there, wearing underwear, but we didn't dare to have sex. However, he left some sperm, which has seeped through to the outside of his underwear. Mine is also wet. Could it have seeped in this way? Will this cause a problem?
I should have gotten my period on the 18th of this month, but I haven't yet. There are no signs at all. Could it have seeped in this way? Will this cause a problem?
First follow-up question: It's the 21st today, and I've had signs of it coming in the morning and afternoon every day. It's already been 4 days past the expected date, but I still haven't gotten my period. I'm so worried.

Doctor's answer:

Hello: Don't have too much psychological pressure, as a delay or advancement of menstruation within one week is generally considered normal. Based on your situation, it's advisable to wait a few more days to see. Stress can also lead to menstrual disorders. In fact, under normal circumstances, practicing any form of contraception can have certain side effects on the patient. Therefore, patients should pay attention to self-care. For those using contraception, self-care should be noted, such as maintaining a balanced diet and avoiding cold, spicy, and irritating foods.

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