Help! Please, My dog might have worms in his system?

I played with my dog today, and he’s always so hyper (he’s a beagle), and as he swept his rear on my knee by accident, I felt something moving on my knee. So when I checked, there was a white, short, and sticky worm on it. It was still moving, could it possibly be a tapeworm? it was very sticky… and how quickly is it transmitted to people? Please help!