Sure ... But the chance is probably not that great. However it can happen and though I don't know of any statistics on this, say it is 1 out of 1,000, if you are the girl that gets pregnant it is 100% for you.
Can A Girl Get Pregnant If The Semen Is On Her Panties?
The chance is slight, but there is a chance of pregnancy any time semen/sperm gets near the vagina.