If it was just wet, then it's pre-ejaculate. This can sometimes contain sperm, but it is unlikely. It is also unlikely that said sperm will have managed to get all the way through your knickers and round to the right part of your vagina to swim up. Even couples trying for a baby, having sex daily, only have a 30% ish chance of getting pregnant each month.
So, there may be a tiny, miracle chance that you could get pregnant from this, but I wouldn't even give it a second though.
Lotion doesn't kill sperm though, so please either go on the pill or something, or use condoms in future..