Welcome to the HIV forum. Insertive vaginal sex, without a condom, obviously carries some risk of HIV and other STDs. Nevertheless, I can provide some reassuring facts.
First, it is the rare stripper or commercial sex worker in the US who has HIV. Statistically, her race raises the risk somewhat -- but still it is unlikely she is infected.
Second, even if she has HIV, the chance of transmission for any single episode of unprotected vaginal sex averages around 1 in 2,000. That's equivalent to sex daily with infected women for 5 years and maybe never getting infected. And your risk surely will be lower than that, given the brevity of penetration.
Third, oral sex is even safer, with an estimated average risk of 1 in 20,000 (equivalent to 55 years of daily exposure). And of course the lap dance itself carried no risk.
Considering the low risk your partner had HIV plus the unlikelihood of transmission even if she did, the chance you have HIV probably is under 1 in a few hundred thousand. People with the level of risk reflected here really don't need to be tested for HIV after any single exposure. It's generally smarter for people who are sexually active outside mutually monogamous relationships to just have routine testing from time to time, like once a year. Assuming you haven't been tested recently, this would be a good time, since it's on your mind. But not because of this particular event.
Finally, the chance of other STDs is higher than for HIV -- but still quite low. A for HIV, testing for gonorrhea, chlamydia, and syphilis can be considered optional. But annual testing makes sense here as well, so I suggest you get tested for these as well.
Bottom line: Wait until 6-8 weeks after the event, so the blood tests have enough time to become positive if you were infected. Then visit your primary care provider or your local health department STD clinic. (Obviously, don't wait if you should happen to develop symtoms, like penile sores or discharge. But this is unlikely.) In the meantime, try not to be so worried about this. The odds are overwhelmingly in your favor.
Good luck-- HHH, MD
Little or no risk from fleeting encounters of that sort. Here is a thread that explains why; see my last comment (December 14):
http://www.medhelp.org/posts/HIV-Prevention/Vaginal-fluid-on-hand-touched-inside-of-condom-and-head-of-penis/show/1119533
Doc,
As a quick follow-up, does the penis need to penetrate the anus to constitute a risk...or would merely having the penis in contact with the anus do this? I have a hazy memory of this encounter -- which is making me paranoid -- and am trying to cover the bases. Again, thanks for your help.
Dear Dr. H,
Thanks so much for your response and this wonderful service you provide.