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STD Risk-Body Rub

This past week on a business trip, I schedule a FBSM (full body sensual massage). We were both naked with her rubbing all parts of her body over mine. Our genitals made contact for about 5-10 seconds (max) and I would consider it a "graze" and not a "grind." There was lots of oil on both of us, so I suspect that minimized any actual skin-to-skin friction a great deal. But now I am having a panic attack as I'm returning home. Is there any risk for HIV? There was no penetration, but I have imagined scenarios where fluid from her vagina might have found its way to the tip of my penis from the brief contact. Also, I had a slight abrasion on the underside of my penis-head (from two days earlier) that was almost completely healed. No bleeding or oozing for over 24 hours. Was not sensitive during the massage or with contact with soap from the shower before or after. Any way fluid could get into penis that way? What about other STDs from this brief contact. I do not want to expose my wife to anything, but I'm also wanting to forget about this and move on. This is my first such encounter. Can anyone help?
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This question pertains to STDs. What is the STD risk from this incident?
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HIV questions post in the HIV forum.
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