Penile Papules are totally normal. They are not an STD, they just occure. I would suggest looking at some medical website and seeing what they say. http://www.emedicine.com/derm/topic313.htm says "Lesions are considered to be a normal variant [of Penile Papules] and are unrelated to sexual activity. Often, lesions cause great anxiety to patients until their benign nature is clarified."
Penile papules are a normal part of the anatomy. Relax.
http://www.chestersexualhealth.co.uk/whats.htm this is one of my favorite websites because it shows how many things that we think must be abnormal really aren't. pearly papules are mentioned in it too.
grace