Sex, BC, nerves

Me and my boyfriend had protected sex last week. The condom slipped off, we put it back on but I was too paranoid about it and just got on top and grinded on him for a few minutes. We then put a fresh condom on and finished everything. I got off of him right before he came (even though he had a condom on) I’m super paranoid and nervous. This was my first time getting back into the sex life. I’m on birth control but don’t take my placebo pills at the end of my pack. should I quit worrying???? Im afraid some precum might have been on his fingers when he fingered me as well.