I've heard it wasn't possible and yes I have been to sex Ed but im still concerned. If the girl was wearing everything, and the guy was just wearing underwear is it possible to get pregnant by grinding on him?

okay there could be a small possibility , the only way  to get pregnant is if the sperm fluids find a way into the vagina , if you guys were both fully clothed if he would of ejaculated you probably wouldn't feel it because hes full clothed so I don't think theres a chance for the girl to get pregnant .