Could I be pregnant in this situation?

I felt up my boyfriend with clothes on and he had all his clothes on I just felt him through his clothes. He ejaculated but I didn't feel it on my hand and he went upstairs to clean up. He said it didn't even penetrate through his pants and I didn't see or feel anything on myself. But 30 minutes later I went to the bathroom without washing my hands beforehand. Could I get pregnant if any spare sperm was on my hand? Or since I didn't feel it is it impossible?