TMI!! & it's kind of long but please read

So my boyfriend and I have never not used protection before and we didn't exactly have sex without protection but in a way we did. We both know how pre-cum could still contain some sperm in it if it was left from a previous ejaculation so he peed before we tried this and wiped the tip off before he put it in. Anyways, we both wanted to know how it felt not to use a condom and so he wiped off the tip and put it in and we both moved a little Just to see how it felt. But now I'm worried about pre-cum and I'm being paranoid. No pre-cum or anything got in me, so I'll be okay right?