this really wasn't any risk at all for std's. it's your guilt that is your real issue here, not your risk.
grace
genital touch (if ever there has been) was may be for few seconds. I had lied on top of her for really few secs..5 - 9 seconds...or less...fleetingly i would say
Can you please answer this GRACEFROMHHP?
The virus has to be massaged into the skin, as with pentrative sexual intercourse. Your encounter was very low risk, and I think no doctor would recommend testing. Herpes does not spread by casual contact. If the woman had no visible sores, UNprotected sexual intercourse only spreads herpes about once in 1000 encounters. Since your penis MIGHT have touched her vagina, the odds are so incredibely low.
If you want to test for peace of mind, you will have to wait 3 to 4 months. Unless blisters appear, then you can have them swabbed by a doctor. I would not lose a minute of sleep on this.