Pregnancy is unlikely with this act, but a pregnancy is possible but has a very low chance of occring this way, as the sperm quantity, if it has entered your vagina would be extremely low and would not be deposited deep inside, as with intercourse.
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As he did not wash his hands, there is a possibility that some sperm came in contact with your vagina.
And as only one sperm is required for fertilization, a theoretical possibility exists, but is very unlikely to get pregnant this way.