Help please should I be worried ?!

Me and my boyfriend were having sex using condoms the first time he ejaculated into the condom and said it was a little messy taking it off. He wiped off and we waited a couple mins before having sex again while putting on the new condom his hand slipped and touched the moistened part of his penis where he believed semen touched he then touched and rolled on the new condom and we finished. Afterward he started to over think and it got me worried// please help!