I wiped his head and body with bath wipes when we got home. He wasn't as nasty as the time when he rolled around in animal vomit/crap in the backyard, but I still didn't want him lying around on the carpets/etc with urine on him. I'm sure you get it.
Before I go, I have to tell you something sad. We lost our dog Rigley to bladder cancer last week. I'm going to make a special post for her, because that's the least of what she deserves. I miss her so much. I'll miss her every day.