There is no risk of HIV from such exposure -- even if the lap dancer had HIV, but she probably didn't. There might have been some small, theoretical risk of genital herpes or HPV from non-pentrating genital exposure, but too low to worry about, especially with such brief exposure.
HandHand or foot spasms
Hand tremor jobs don't transmit HIV or any STD, ever.
Don't worry about it. You're not at risk for anything.
Best wishes-- HHH, MD
So based off what you told this gentleman, i shall use the same advice.