A penis needs to enter your vagina to get pregnant. So, your activity would not have led to pregnancy. But to clear up myths, A. washing a penis has nothing at all to do with preventing pregnancy. and B. taking a birth control pill one hour after a sexual episode would do nothing (and WILL mess up your hormonal imbalance). Yasmin is not emergency contraceptive like plan B. And plan B should be used for emergencies only . . . not as a birth control method. If you use it more than once a year, you've used it too much.
It is physically impossible to get pregnant from dry humping.