If the tip or top of the penis was covered, then it's ok. That's the only thing that matters in regards to HIV, as it's way to get in is through the urethra. However, there are other stds that you could have been infected with such as syphilis, herpes, hpv... Test for those after 3 months, but I do not believe HIV is a cause for you to worry as the action was protected.
No,only the head needs protection.