Will a girl get pregnant if you wiped of c*m off your hands and fingered her after 20 minutes or so?

We were having some fun and my girl gave me a h***j*b then I finished it off on my hands. And I wiped it off with a cloth. Then we watched a movie. After 20 minutes or so, I fingered her. I know that hands were dry and I was holding on to a couple off sheets and pillows so I know if I had not wiped it all off during the time I wiped it off with a cloth then it would be onto the bedsheets and pillow cases. Then I insterted my finger in her with the same hands that I used, and I forgot that I used that hand earlier. We are just nervous. Please help.