My friend and I were making out, he rubbed his genitals on my vulva, I am worried

You are 100% totally not pregnant. Even if he had touched his penis and then your vagina WINTOUT your pants on it still wouldn't happen. You need a lot of sperm far up inside of while you're ovulating you to get pregnant, and even if that happened there's still only a 25% chance you'd get pregnant. It's really really unlikely that he had any sperm on his hands anyway, and even if he did they can't travel through clothes, let alone up your vagina. You're fine :)

1. If someone is not pregnant she must be "100% totally not pregnant". Equally if someone is pregnant she is "100% totally pregnant". The is no in-between. None-one can be partially pregnant or partially not pregnant! Nevertheless, if this sexual encounter took place just a day or two ago, then there has not been enough time for pregnancy to occur anyway. That takes several days. In that case there is no pregnancy yet.
2. Also you don't necessarily need "a lot of sperm far up inside" although the sperm's journey can be hazardous. That is a popular myth. It only takes one sperm to fertilise an egg. Lots of people have got pregnant without intercourse.
3. It does not have to be "while you're ovulating". You only ovulate at a single moment in time. Ovulation is more of an event, not a long drawn out process. Also sperm can live in a woman's body for up to 6 days. So sperm arriving in the fallopian tubes 5 days before ovulation are there to greet an egg when ovulation occurs.
4. It is not "unlikely that he had any sperm on his hands" as pre-cum can contain sperm.
5. Sperm are very small and can travel through clothes if there is enough liquid to swim in and the fabric is thin or open-weave. A wet vulva could allow facility for sperm to swim into the vagina. However that scenario is probably unlikely.
6. More significantly, if it took place at an infertile time, pregnancy could not occur. However no details are given about sexual or cycle events.

So there is a possibility that pregnancy could follow, but the probability seems extremely low.

I hope this clarifies

omg thank you so much :)

thanks your response really clarified a lot of things for me

Pleased to help. If you have other concerns, feel free to ask. Privately if you prefer.