No problem. I don't know how old your vials were, but I'll assume 80% viability and that they were Wyeast packs at 100b cells ea.
Using YeastCalc:
Enter "5" for 'Batch Volume [Gallons]'
Enter "1.085" for 'Original Gravity [SG]'
Notice you need 290b cells total. That's not very much.
Uncheck 'Calculate Viability from Date' and enter "80" for 'Viability%', or enter a date
Enter "200" for 'Initial Cell Count [billions]'
Select 'Intermittent Shaking' for 'Method of Aeration'
Enter "1.5" for 'Starter Volume [Liters]
Notice you will have made 135b new cells for a total of 295b. This is fine.
In this case, you could have avoided the second vial by making a 3.3L starter instead (in a gallon jug).
Or, use the quick and dirty 1.5 b/g DME estimate to come up with 226b new cells, putting you at 387b total cells.
Either way, you're fine. Keep shaking it for 48 hours total, then cold crash it for brew day.
Estimating yeast cell count is a very rough process. Getting within a factor of 2 on your pitch rate is considered good enough. Because cell growth is exponential, you don't start getting odd flavors until past a factor of 2.