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Can you get pregnant from dry humping and my pants had a little bit of pre-ejaculate?

Most likely not I do not think you have anything to be worried about. according to sexual health dot com if he has urinated since his last orgasm that there cant really be active sperm in his pre-cum. plus that sounds like quite a journey for something that is so small you cant see it and their ownly means of transportation is with their tail through liquid. once they have dried they are no longer anysort of threat anywayz. dont worry!:)
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