That kind of contact is not a method to contract herpes, no. Herpes is transmitted via intercourse or by receiving oral sex. Touching is safe and you should not worry. Touching your penis near her groin area for a very brief time is not a risk and you should feel reassured about not contracting an STD in this situation. Good for you for not putting yourself or your partner at risk by practicing unsafe sex.
Terri
I thought herpes is from skin to skin contact?