The Private Organ Touching One's Underwear Without Washing

If one urinates, then he does his best to release all remaining drops by pressing under the scrotum and squeezing the private organ few times, thereafter he wipes the front of the private organ with a dry tissue. Then he wraps a tissue around it. Now the person sleeps and when he gets up he sees the tissue was scrolled away during sleep and the private organ did touch his underwear. Is his underwear considered impure? i.e. if the private organ is wiped off with a dry tissue without washing, and the dry private organ does touch the underwear, is the underwear impure?