No, she cannot get pregnant unless your sperm were to be able to get into her vagina. And even if that were to happen (unlikely based on what you describe), the sperm would have to meet up with a ripe egg before fertilization could occur.
I think what you are most feeling right now is guilt, and that can be dealt with a lot easier than an unplanned pregnancy.
She's not pregnant. Continue to explore your relationship and enjoy each others' company.
