Had sex with girl,cummed in condom, took it off, moments later my hands touched penis did not wipe penis or hands then finger went in her she pregnant?

Possibly: While it's a long shot, it's possible to inseminate a female int the manner you described. However, your partner has to be in her fertile period, sufficient sperm have to transfer to your fingers & survive the journey from the bathroom back to her cervix. Then, at least 1 has to make it all the way. I assume you were taught to wash your hands after taking a leak. Another good reason!!!

Unlikely: Very unlikely. First a woman has to be ovulating to get pregnant. Second it usually takes a significant amount of semen (a very tiny amount if any from your finger would be very unlikely). That being said nothing is ever 100% so if you or the woman is concerned I would just have her take a pregnancy test.