HELP I had unprotected sex

Okay so I am on birth control (have been for a long time) and I started my new pack of pills last Sunday and missed Tuesday because I fell asleep I take it at 9 p.m. and was late taking it on Wednesday so I got scared and took Tuesday and Wednesday both as soon as I got home on Thursday morning around 4 or 5 a.m. I had unprotected sex Wednesday/Thursday morning but he didn't cum in me and wasn't in me very long. I am so scared that I messed up. what should I do? I didn't think anything of it until just now. :(