Not a chance unless you are both naked and hugging and the genitals rub together (laughter), AND if one of them has HPV. Most HPV is not visible, so be careful who you are with. HPV is transferred skin-to-skin. The kind of warts on your hands or feet if you get them is a different strain, from what I understand than the genital warts or oral warts. Also if two people have NO HPV at all, and had no prior sexual contact with anyone else, they cannot get the virus by contacting each other.
Most people get HPV at some point in their lives. Most people clear HPV. And this is all done without them knowing they ever had HPV.
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