Hi, I am a 23 y/o male and just want to knw what the risk of HIV transmission is in an act that I was in recently. We were both wearing our underwear n my penis just rubbed her vagina, there was no penetration or insertive sex at all.The other thng that worries me is that I saw a very small stain on my underwear where the penis opening usually is and now if these were her vaginal fluids, would I be infected in this way? Do I need to test based on this incident ?