Congratulations of using safe sex. Sorry to hear of the mishap. Please don't let this event keep you from practicing safe sex in the future.
If you came to see me and asked for me to provide PEP, I would not do so because your risk is so low and the risk of you suffering side effects from the PEP medications is far greater than your likelyhood of getting HIV. Here are the reasons why your risk of HIV is virtually non-existent:
1. She told you she did not have HIV. Most peole do tell the truth.
2. Most people do not have HIV. In the U.S. her probability of having HIV is substantially less than 1 in 3000.
3. If she did have HIV (remember, this is already very unlikely), you odds of getting HIV form a single episode of unprotected sex is less than 1 in 1000 and, in your case, likely even lower since the exposure was so brief.
My thoughts, you certainly do not need PEP and probably do not need testing for the episode you describe. Hope this helps. Do not set yourself up for an adverse drug reaction. EWH