Penetration or no?

I had a sexual encounter with what may be a high risk female (because of drug use). It started with unprotected oral and then we attempted protected vaginal but my penis got soft before penetration. I removed the condom and as I was laying on my back, she proceeded to try to mount me without condom, which obviously was unsuccesful considering I wasn't erect. However, I did notice that the full head went in a couple of times during her attempt but I quickly pushed her away. The general concensus on here is that the aforementioned isn't considered penetration. Isn't the fact that the head of a soft penis inside a vagina considered penetratio? And would that be a risk of HIV?

[Teak]

Your question was already answered. You were never at risk you