Hi, I understand your concern. There is no chance of pregnancy. You have ejaculated outside and then cleaned by using cloth. Then you insert hand in the vagina. As you clean with the cloth no sperm and seminal fluid will remain in finger. To become pregnant penetrative intercourse or intercourse upto vaginal is required in fertile phase of period. Pre-ejaculatory fluid can cause pregnancy bu for that also penetration is required. But you had a non penetrative sex then no any chance of entry of precum in vagina. Avoid stress, take healthy diet, maintain proper pelvic hygiene, do regular exercise. Use safe sex practice in future to prevent unwanted pregnancy. Hope I have answered your query. Let me know if I can assist you further. Best regards, Dr. Sagar