We have never had sex and I am still a virgin. And we were both wearing clothes

Extremely unlikely. You would have to be wearing nothing but thin panties and it would have to get around them and into your vagina, basically impossible, or .0000000000000001. But you never know about that one little sperm with so much energy. And besides, thinking this is OK can lead to that oops where body parts get past clothing and in a split second it's all over. Happens every day in the heat of the moment.