you should be fine dont worry about it!
And the thing is we dindn't had sex, and i didn't ejaculated too....Just touched her upper layer of vagina from my penis...
if you guys had on clothes its less likely that she'll be pregnant from 5sec of you guys slightly touching. you guys should be fine.
Well, you are having sex with her, without using a condom. While the odds of her getting pregnant are small, they aren't non-zero if you were pretty close to orgasm. Just depends if the innerwears got wet from you. As far as STD's go - the usual stuff applies so if both of you are healthy - no herpes, STDs, etc, then you both should be okay. If the thought of her getting pregnant from enjoying each other makes you (and/or her) nervous, do research the alternatives for contraception: condoms, morning after pill, regular birth control pill, etc. Things are a lot more enjoyable when you both know that (a) protection is present, (b) you both are healthy and (c) you respect each other. Been there, done that, got the anxiety tee-shirt....