I had sex with my girlfriend with a condom and all was well. I took the condom off, wipped up a little, and put my underwear on and got back in bed. We continued making out and my still erect penis pushed up against her vagina, but it didn't really penetrate. I'm worried that some aftercum could of bleed through my cotton underwear and possibly made it's way in her. Do you think I have anything to worry about?
You have nothing to worry about, even if you did get some precum then your underwears would've picked it all up, unless your underwear got fully soaked in cum then nothing would happen to her.