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Technically it is "possible with having our underwear on and grinding, that precum could travel through the material and inside me", but unlikely.
The fluid would have to soak through two fabrics and join with your pwn vaginal fluids. More critically, any sperm in that precum would have to swim (they can't walk or crawl!) through the fabric and into your vagina.
The likelihood is that, unless the precum were copious and soaked both your underwear, the fabrics would have soaked up the precum, leaving ant sperm stranded.
Furthermore, it would have had to have happened at a fertile time for a chance for pregnancy to follow. From the brief date indications you would likely to have only just ovulated, but specific dates of your cycle and the date this happened would help.
"Why would I be feeling this ache down below" is a bit vague. "down below" = where precisely?
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