My partner and I weren't sure whether or not sperm got on her vagina. I was wearing a condom, pulled out, removed the condom, then finished on her stomach (my hands came in contact with the sperm). I went to wash my hands with soap/water then dried my hands with a towel, then proceeded to finger her (not inside, but touch the outside). Is there a chance sperm got inside her vagina? Should I go get Plan B right now?