Has anyone had discharge to go through their undies? Scenario: Was at the lake grilling with some friends, sitting for…

Has anyone had discharge to go through their undies?

Scenario: Was at the lake grilling with some friends, sitting for maybe 2 hours or so, when I stood up I felt something like how when you have discharge and you can kind of feel it. Started walking to the car and from then on to the house (20 min drive) i noticed on my pants look like I had done peed myself. It definitely wasn't pee though. Didn't really have a smell.(if it did I couldn't smell it) Been having light cramps off and on since after I ate around 6:45.

Got home, went to the bathroom had brownish/pink discharge. Since then I haven't had any discharge like that just the regular. Pretty sure it wasn't my water breaking. Now I just fee really nauseous. Any others gone through something like this?