Not likely. If she is indeed on the pill in order for her to get pregnant her pills would have to fail, and you would have to have intercourse. Pre ejaculate does contain sperm, so even if you use the pull out method there is still a chance for fertilization if the egg is in place. By what you have described here there isn't a chance for her to be pregnant. If there were any sperm at all on her hands they most likely were already dead. They cannot live outside the body for very long.
If both of you are not up to raising a child anytime soon, then I would suggest also using a condom for extra protection on top of the pill she is already taking. If condoms are not an option for you then use spermicidal creams.
There are some things that can interfere with the effectiveness of the pill, causing it to fail, such as antibiotics. If you choose to continue having sex then please keep in mind pregnancy is always a possibility, and prepare yourselves for that possibility. If a pregnancy does happen be prepared, and be responsible about it.