If there is a small patch of precum inside my underwear and i touch it from outside the underwear for 2-3 seconds, will i have sperm on my hands? i fingered my girlfriend after this. can she get pregnant? can anyone please help me?

No risk for pregnancy. Conception doesn't occur without ejaculation in the vagina; certainly fingering never results in pregnancy. That said, you should not be having sex unless 100% contraception is assured, such as your partner being on hormonal contraception or an IUD. Also use condoms to prevent STIs. Then stop asking about minor detials like this.

No she cant

No. Sperm will be dead and not able to cause pregnancy in a small amount. Sperm in a normal amount entering the vagina can cause pregnancy. Practicing safe sex will not cause you any concern.