No, touching his shaft and then fingering you isn't going to get you pregnant. It takes sperm coming in contact with your genitals to get you pregnant and if there was no pre-cum or semen then there was no sperm.
If you're going to be having any kind of sexual contact, you should be protected by using birth control.
There's no reason to apologize but since you have no idea you should learn more about sex and reproduction. There's a whole world of information on the net so there's no excuse to continue being sheltered.