nope you are okay for the once or twice. The prob in used lubs is the pcb..... If you are a mechanic, then yes you should wear gloves.
Useless info - best (or worst) disposal I have heard of is in Argentina where they use it as a bbq fuel - gives the steak a certain piquancy and no wonder Messi et al are a shade of their past teammates and themselves.
Best disposal is into a waste generator for tricity where it will be burnt at 2000C with residency of >4 secs, the clinker then holds the nasties and that's locked into concrete such as for motorway barriers and kerbs.