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The above replies are spot on. The solution appears on the tip of the glans as it oozes out. Until he looks or feels it, he won't actually know; however, having said this, anytime a guy is aroused he can pretty much guarantee it will be there.
Does it contain sperm? Sometimes yes, sometimes no. It is always best to treat the solution as "loaded", regardless.
Are you in danger? Probably not. There is very little and unless you touched the crotch of your panties, besides the waistband, the chances of it going anywhere else is remote. Note: Remote does not mean impossible.
Use the search feature and see what turns up. The subject of precum has been discussed quite a lot.
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