Can I get pregnanat with underwear on and semen on his hand?

I am just too worried. I was with my boyfriend a week ago and gave him a ha****b..he ejaculated in a tissue and we wiped our hands..his hands were not wet. After 10 minutes,he touched my vagina but not the opening at all..i was sitting and vagina was tight..plus he touched me from above my panty..I was not even wet.. Can I get pregnant? I am so worried..I feel pregnancy symptoms :-(