Thank you for writing!
Thanks for your post! Did you have sex ed at school? If not, it's a good idea to study on your own so you know how sex and the human body works. You can read books on this or search our own site. This will eliminate a lot of stress than the unknown can cause.
A woman cannot get pregnant unless she has unprotected sex (naked) with ejaculation. She would also have to be ovulating.
Since your boyfriend wiped his hands, there should be no risk. Additionally, the clitoris is not near the vagina.