Pregnancy scare

So two sundays ago I had sex with my current guy and he pulled out and came on my stomach and a little on my vagina. He wiped himself off with a towel and I used the same towel to wipe myself off (my stomach and my vagina) can I get pregnant if there was sperm on the towel and I cleaned in between my legs with it? I know it's a silly question but I'm nervous about it. I don't think he came inside me but I'm not sure do you feel it if he does?? I don't know if I used a clean section of the towel or not