Had intercourse and condom got pretty dry but continued. Started to hurt and I noticed my inner labia near vaginal opening is all swollen? Cause?

Abrasion. Friction on dry skin leads to skin damage or abrasion. Abrasion causes pain and takes time to heal.
Irritation. Probably because of lack of lubrication. This makes it more likely for the codon to break too. Lube is good for you. Use water based lubricants if using condoms.