HIV never transmits outside the bodies, you need to have unprotected vaginal or anal penetration for HIV to get transmitted. If you rub your member on her vagina, it is not a risk.
is there any duartion of contact with vaginal fluid for transmission?? means what if someone rubs the head of penis over vagina or just inserts for less than a minute what r the chance for the stds??
As long as the head (urethra and foreskin, if you have) is covered with condom, you are not exposed to any rsik of HIV transmission. Vaginal fluid contact with intact skin of shaft is not a risk either,