I actually asked my doctor when I was pregnant if using stuff like that would hurt my baby since I had BAD leg cramping but she told me that as long as I don't over use it ! It should be fine, I ended up not using it but if you washed it right away and it was just one time I think your okay, if your really worried you should ask your doc !
I have no idea about creams and what to avoid but if you're that worried it doesn't hurt to call your doctor and ask or go to the er and tell them what happened. If you're hurting anywhere I'd definitely go to er.