Hi, welcome. No. You can not get a woman pregnant this way. Vaginal intercourse is how a woman gets pregnant. I do encourage you to buy some condoms though in case in the heat of the moment things go further. You want to be prepared. good luck
the sperm on your hand it unlikely to have survived even so if it had made contact with her vagina there is little change as she will get pregnant as a sperms journey is very intense and she is only likely to get pregnant through intercourse where lots of sperm are released. hoped this helped
It does not sound like there is a very strong chance she got pregnant that way.