Contact with a rabid raccoon?

Earlier today for the safety of my children and two pet dogs I was forced to shoot a raccoon that I believe to have had rabies. The raccoon was wondering about in a dazed and disoriented state in broad daylight , its right hind leg appeared to show signs of some paralysis & the raccoon showed zero fear of me and the mouth was also open and some saliva was dropping from it. My question is after shooting the raccoon a few times I went to dispose of it and was not thinking and touched the tail to get the body onto the shovel and into the box. The raccoon did not bight me nor scratch me nor do I have any open wounds on my hands. Should I be worried about contracting rabies? The local animal control took the body to send it off for tests to find out if it really had rabies or not. None of the animal control officers or local health officials would give me a straight answer as to if I should seek medical attention or not. My wife says I am being extremely paranoid. Can someone with some experience or medical knowledge give me some advice. They just said that it was very very unlikely and I should contact a physician if I felt the need. Again was not bit nor scratched just touched its tail. But they said it is a virus transmitted by saliva and if the raccoon in question had chewed licked or bit its tail its possible the virus was on it. Please let me know what my course of action should be.