However if he waits 5 minutes to withdraw his penis from your vagina and remove the condom and clean up, then his penis probably went flaccid, and the condom could have leaked out the ring or slipped off. If this is the case, then the condom failed and may not properly protect you against pregnancy (and STDs).
But if he pulled out while still erect, if it was 5 minutes after sex when he started to clean up, if he wasn't near your vagina, then you should be okay.
For future reference, you should both be very familiar with proper condom use. Read about proper condom use in Condom Basics: A User's Manual.