Thank you for writing!
You are correct, there is no risk. 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 or be within five days of ovulation. Since you used a condom correctly, there is no risk at all.
So a pregnancy cannot occur from what you did.