As far as I know, they don't get over or survive rabies. It is extremely important that your dogs are currently vaccinated against it. Are your dogs all current with their rabies vaccination??? A bit is no fun under any circumstance....but neither is a kick. Sounds like you took care of the "mark" with washing it with soap and water...I'm not sure of the garlic. An antibiotic ointment might have been better. I would have the dogs checked out by the vet.
Dogs die from rabies, not from biting humans.
If your dog has a current rabies vaccination he doesn't have rabies and neither do you. Even if his vaccination isn't current, if the bite didn't break the skin, you don't have rabies.