You will have to wait until the paint is truly dry. After it has dried wash the area(s) with a mild soap, warm water and a sponge or soft cloth. A sponge floor mop can also be used. Try to wash off the stuck insects and dirt. Make sure to rinse well with a garden hose. Repaint any area(s) that still look bad.
For some reason bugs are attracted to fresh paint, it must smell good to them. Most of the time they can be washed off. To maintain this area plan on a good washing from time to time.