No this is practically not possible unless and until you have ejaculated inside her vagina so and you do not need to worry. Even if you are scared then just to confirm our pregnancy get Urine
Pregnancy Test kit from market like prega news etc. From next time instead of washing the sperm first use tissue paper to wipe it off and then wash with water and soap thoroughly.
Next Steps
confirm pregnancy by urine
pregnancy test via kits available in the market like prega news etc