No judgements please

My so and I had sex last night and we were pleasing each other with our hands. Well usually when I give him a handjob he stops me to actually get down to business after a couple of sdconds. This time, he let me have fun with it and after a while I eventually felt liquid and I know it was precum but I'm kind of freaking out because we had unprotected sex for a few minutes right after and we didn't wash off or anything in between . I guess this isn't a question I'm just ranting away. I'm just a little worried I guess.