The only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles with IV drug users.
Feeling a prick in your foot is not a cause for concern. A needle prick would not transmit HIV. You would need to have a needle injected into your vein, which would require you sitting still. You can't have a needle go into your foot vein without you having a needle hanging out of your foot and being in great pain.
Hope you are healing from dengue, but there is ZERO HIV concern here.