You don't provide quite enough information for me to figure this out. I assume your initial diagnosis was an abnormal pap smear. However, the nature of that abnormality is significant; and whether an actual HPV test was done. The negative biopsy suggests it might not have been HPV at all. For example, the most common single pap abnormality is called ASCUS ("atypical squamous cells of undetermined significance"). About half of ASCUS paps are due to HPV, the rest unknown.
Although sex without intercourse is a much lower risk for HPV and all STDs, some cases occur. For HPV in particular, genital apposition (unclothed genitals together, without penetration) clearly is responsible for some cases in technical virgins.
In any case, whatever was going on then seems to have resolved; your body indeed has taken care of it. You should follow the advice of your own health care provider (or the one who managed your abnormal pap) about follow-up, but it sounds to me like it's a done deal. No woman with past abnormal paps has any obligation to inform future partners. However, many choose to do so, especially if/when a new relationship has promise for the long term. Other forum users might have comments or advice for you.
Best wishes-- HHH, MD