Welcome to the forum.
There are no data to answer your specific question -- the chance of picking up HPV from a single sexual exposure, either condom protected or not. But given the care with which you used the condom, I would guess the risk to be very low, probably under 1 in 1,000. But I stress this is a guess, no more.
However, even if you had had a higher risk exposure (e.g., no condom) I would urge you not to worry about HPV. Even though you and your wife have never had other partners, HPV could show up in one of you someday. How this happens aren't clear, but it's not all that rare even in truly monogamous, lifelong exclusive marriages. In other words, if or when HPV were to show up (e.g., your wife develops an abnormal pap smear), it would not be possible (or justified) to attribute it to this single sexual indiscretion.
So my advice is to not let this worry you at all. I have the impression you regret that sexual choice, and you'll have to deal with the guilt etc. But don't worry about HPV or any other STD as a consequence.
I hope this is helpful. Best wishes-- HHH, MD
Thank you for the fast reply doctor,
Your answer was very helpful and makes me feel more at ease (from a STD point).
You are also correct, I do feel a tremendous amount of guilt over this incident.
Thanks again,