One more thing, I don't believe I touched my penis at any point. Just pulled my pants up. Do I have reason to worry?
I do not believe there was semen/sperm on my fingers as I didn't ejaculate.
If she is on birth control then the risk is minimal, also as you didn't have full penetrative sex that would make the risk low too and if there was no semon/sperm on your fingers when entering the vagina there should be no risk of pregnancy.