It is possible that you could get pregnant, but it doesn't seem very likely.
It all comes down to exactly how you initially wiped your clitoris, how wet you were, and how close you were to your vagina. It then depends how soon you re-wiped yourself, and how you did it (you did say you were quite rough). Significantly, it depends whether it happened in a fertile part of your cycle.
To get pregnant, sperm has to enter your vagina within the 5-6 days leading up to ovulation.
So, if your clitoris is very small, and you were not very wet, it might have been far enough away from your vagina not to have had a chance for the semen to get near your vagina. If you then re-wiped upwards, away from your vagina. You should probably be OK. On the other hand, if your clitoris is big, it might be nearer the vagina, and if you were very wet, sperm could swim into your vagina.
A new pair of knickers would probably soak up any fluid, so any remaining sperm could well be stranded. But there again, it depends on the type of knickers. Too close fitting (like a thong, or if displaying a 'camel-toe') might assist the sperm.
I hope this helps.