No, you don't have much to be worried about regarding pregancy. STDs are another matter. I guess you didn't intend for you to end up inside her like that, but now that neither of you are virgins (if either of you were before), the probability of you now having deliberate intercourse is high, so invest in come condoms.
What you should have done is to have immediately pulled out and washed your penis thoroughly with hot soap and water, and she should have washed her vagina. This can help reduce the chances of infection (and in the trillions to one chance of pregnancy, the less time you were inside her, the lower the probability of getting that one luckly sperm out).
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