My first 3rd base experience, terrified of getting pregnant, please someone help?

It was my first 3rd base experience. I gave him a hand job but told him to finish it himself. He came in a plastic bag, cleaned himself, throw that away and came back to the car, kissed me and rubbed my vagina from above my pants. His hands weren't wet but kinda sticky at the time though. About 10 minutes  Later he grabbed my a** and played with it but didn't touch my vagina. An hour later in home i went to pee and touched myself mildly there before washing my hands. Is there anychance for me to get pregnant in this way? Like from above the pants or by me cleaning my sef after peeing? It was 6 days before my fertile window ( my period ended that day) so i have to wait 20 more days to see if i get period again, is there anything else to do right now to male sure or just to know?