Hi, I Dry Humped With My Girl, Not Exactly But

Hi, i dry humped with my girl, not exactly but she sat on me, 4 layers of clothes were on. Next I fingered her deep, my hands were dry i washed it previously.

I might have tapped pre cum alittle previously, but tapped on my underwear, which is dry anyway. Even so im not sure if I did. Can dry precum (made contact just by a tap, no fluid at all on hand), made contact in that way could in any way contain sperms ? (No i did not ejaculate before that)

I live in a very conservative society, I'm paranoid with even the slightest pregnancy chance. Am I safe ?