help! should I be worried?!

So I had sex last Wednesday without a condom. I rarely do this, even though I am on the pill. I didn't take my pill on time that morning. I took it when I got home later that night. He didn't cum inside me. I did some research online about whether or not I should be worried and most things I read said if it's less than 24 hours after you were supposed to take it, then I should be fine. 
Should I relax? And stop worrying?