I hugged my girlfriend and slept beside her . We didn't have sex or penetration . We just had an intimate time . We had our clothes on us . After that I you found that there is semen in my underwear . My doubt is " Is there any chance of that semen coming out of my underwear,my jeans and then her jeans,underwear and entering her vagina causing pregnancy?

No.

Absolutely no way she can become pregnant like this.

Since you are becoming sexually aware, it would be in your best interests to learn about how pregnancy does and doesn't occur.