Welcome to the forum.
Neither HIV nor any other STD can possibly be transmitted by the events you describe. It is simply impossible and you should have no worries about it whatsoever. You do not need testing and can safely continue unprotected sex with your wife. Please do some reading about how STDs and HIV are and are not transmitted -- the brief truth is that if a bare penis (no condom) does not enter another person's vagina, rectum, or (rarely) mouth, there is no risk. And by the way, soap instantaneously kills HIV and all STD viruses and bacteria.
It seems quite clear you are reacting (over-reacting, I would say) to a normal physiologic response and to a washing experience a bit more intimate than done in most legitimate massage parlors. If you really still feel you "can not handle this anymore", you should seek professional counseling about it. In any case, this emotional/psychological issue is the only one you need to worry about. There is no risk of infection of any kind.
Regards-- HHH, MD
I truly appreciate your response Dr.Handsfield, it extremely helpful. It allows a naive individual like myself the ability to gain some knowledge. Ultimately, I believe the guilt is the source of all these emotions. Your educated response has allowed me to move forward and feel better about my life, or should I say respect my life more!!