HIV is unable to reproduce outside its living host (unlike many bacteria or fungi, which may do so under suitable conditions), except under laboratory conditions; therefore, it does not spread or maintain infectiousness outside its host.
HIV is transmitted by;
Unprotected penetrative anal and/or vaginal sex
Sharing works with other IV drug abusers
Mother to child
No, no transmission is possible from that manner: touching. Hand to genital contact does not pose a risk, especially if bodily fluids were involved. Please, if you do have any more questions pertaining to HIV, post any more questions in the HIV community where other member with better knowledge can better assist you.