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I just want to know me and my girlfriend we both rub our private parts wearing under wear so there is any chance to get pregnant of my gf
Well, if the underwear is on, then chances of a pregnancy are less, unless the semen touches the vagina. however , do keep a condom handy. You may want to use it when you both decide to touch each others' bodies without your underwear on. https://lovematters.in/en/making-love/condoms-reduce-fun-not-any-more, do read the link and prepare yourself ! Enjoy. All the best.