DO I TAKE THE EMERGENCY PILL HELP!!!

So a guy I WAS seeing I came home with me and ended up convincing me to grind/rub on him. Although we were still in our underpants, I could feel his pants really wet so I’m worried that his fluid could have gotten in contact with me. I am seriously scared and worried and feel so guilty for what happened. He ended up using me so he is out of my life now but I don’t know whether it’s a good idea to get an emergency pill just in case... what do I do??