Pregnancy occurs when sperms and ova unite by sexual intercourse and sperms travel in the vaginal fluid after ejaculation.
As you have explained that your partner just touched the penis which was dry and after that she had put the same hand on her genitals so the possibility of pregnancy does not seem to be there.
Even if sperms are ejaculated outside the human body they die off soon as they cannot travel on their own to the vagina.Relax and while any sexual contact consider using protection for prevention from pregnancy.
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