I would go and get tested otherwise it will always be niggling at the back of your mind. the odds are in your favour but that doesn't rule out that you might be one of the unlucky ones who get caught out first time. Sooner the better then you can move on.
Having unprotected sex poses risks for you, even if you had done it one time. Still, you had unprotected sex. It is not clear if you knew this person as it is not mentioned in this post. You would need to get checked out in the recommended time intervals:
Gonorrhea/Trich/Chlamydia- 6-7 days post exposure
Syphilis- 4-6 weeks post exposure
HIV- 12 weeks (3 months)
Herpes- 4-6 months post exposure