Very unlikely you could get pregnant from this. Sperm does not live very long outside the body & Im pretty sure once it’s dried there would be no viable sperm left. Even if he had put a finger inside you at that point, the chances of getting pregnant would be pretty close to zero, so if he was just touching you thru your panties, it would be pretty much impossible for you to get pregnant. Relax - there’s about a 99.999% chance you’re fine. I would even say 100%, but there could always be an extremely tiny chance it could happen, but the odds are so much against it, it’s just not even worth worrying about. If I were betting $$, you’ll have your period when it’s due, but even if it’s a little late, don’t freak out - you’re really gonna be OK...