We did it raw for a short time

Me and my bf were having sex with a condom on for the entire time and when he was near we stopped and he took of his condom. We never done it without a condom so we tried for a very short time, but barley. He wiped his dick completely dry with a towel and there was no precum.. then he put it in for like 5-10 seconds? He went in and out like 3-4 times.A really short time. Should we be worried?.. allies worried about precum? he didn’t finish and we stopped after a short time.