No, there is no reason to fear pregnancy from this. You can't get pregnant from being fingered of giving a hand job. You have to have intercourse where his penis is in your vagina for pregnancy to occur. If you are getting close to having sex, consider figuring out birth control options now. Pill or condoms should be used and both for the best protection.
Agree 100% w/ GR - you have nothing to worry about. There’ve been questions about dry-humping w/ both partners in just underwear, the guy ejaculated on her panties & there was a fear the semen could get thru the mat’l and cause pregnancy, but even that possibility is pretty remote & not with worrying about. In your case, it’s just not possible at all.