Cleaning up after sex

My boyfriend and I are in a pickle; he already has a child of 3 years. Neither of us want anymore children right now. I'm on the pill and I take it regularly, but we don't use a condom. He's came in me once and I've gone to basically empty myself after. I've never had to do so, though. I did the best I could, but is there a recommended way to clean up and empty your vagina of his sperm after he comes inside you?