By searching old posts on medhelp i found this which i will copy paste below, are current experts at medhelp agree with what the poster had said?
Kries May 14, 2009
There is absolutely no risk from frottage (Rubbing genital togther).
As for your penis head coming in contact with her vaginal secretions at the opening of the vagina. Those secretions are no more infectious than tears, saliva and sweat. Which are NOT infectious. The only infectious fluids inside the vagina are the cervico-vaginal fluids, which are found all the way at the end of the vaginal (top). This fluid is a think membrane fluid that is coated on the cervix to protect it. You had no risk what-so ever, so you do not need testing.
Your symptoms are not HIV related. See your doctor if your symptoms keep causing you concerns.