All perfect praise be to Allah, The Lord of the Worlds. I testify that there is none worthy of worship except Allah, and that Muhammad is His slave and Messenger.
What is obligatory in the case of Mathi, is to splash water on the clothes that have been stained with it, and wash the body from that is stained with it.
Hence, if you had cleansed your garment by wiping it with water, and you did not splash water over it, then it is not ruled to be pure. You are obliged to purify it according to the Islamic method.
Your prayers are ruled to be valid because you were unaware of the ruling.
But if you had splashed water on the impurity and then you rubbed that place with your hand, then if the water that is present in the place of impurity has not changed due to the impurity – as it appears from your question – then it is ruled to be pure, and therefore, your hand is ruled to be pure as well.
Allah knows best.