What Are The Chances Of Hand Transfusion Of Sperm Into The Vagina?

So my boyfriend and I had sex with a condom on. After, I went into the shower to clean myself. He came in after taking off the condom because he wanted to rinse himself off too. I helped him clean up, though he'd had most of the sperm off, then washed my hands with soap after, and proceeded to clean myself down there. I was wondering if there was any high chance of sperm getting on me and traveling into my vagina/cervix and possibly getting me pregnant?