Shivam,
This is the problem with cuddling and foreplay. You never know when it leads to oral sex, hand job or intercourse as you have found out.
There is a slim possibility that sperms in your semen could have entered her vagina, as you did not wash your hand but only wiped it on the bed sheet. Even a single sperm is sufficient to make a woman pregnant if it enters her vagina and she is in her fertile period. You have not us if your girlfriend was in her fertile period. She will be able to let you know about her menstrual cycle and her fertile days.
Since days have elapsed since the incident and I presume she did not take any I-pill within 48 hours, damage if any would already have been done. You will have to patiently and nervously wait for her next period to find if all is well. However in the mean time, you can get a urine pregnancy test done. These kits are cheap and available at any chemist and most importantly can be done at home. Read the instructions on the kit.
Do not panic, as your tension will be passed on to your girlfriend. We can only remind you next time to have safe sex. Wash your hands with soap water in penetrating with fingers and keep a condom ready if penetrating by penis.
Relax. Things will be fine.