I touch semen by my hand then I wipe it with tissue, I wash my hand with soap and water then around 30 min later I touch my vagina is there risk preG?

Pregnancy unlikely. Dried stuff on one's hands won't start a pregnancy. Washed hands won't start a pregnancy, with or without soap. Wet semen (as in fresh semen) inside a vagina can start a pregnancy... so that is the thing to prevent. If worried, a home urine pregnancy test is very reliable by 3 weeks after sex, or 1 week after missing a normal regular period, or after starting a "weird" period.