OK, now we're in the correct forum.
It is rare for STDs to be transmitted by genital apposition without penetration (some call it "outercourse"). In theory, there is a small risk for those STDs transmitted by skin-to-skin contact (herpes, HPV, syphilis). The risk is even lower -- zero for all practical purposes -- for those transmitted primarily through sexual secretions like semen and vaginal fluid (HIV, gonorrhea, chlamydia, hepatitis B). Even for the skin-skin infections, the chance is very much lower than with pentrative sex -- low enough that you should not be at all worred and so not need testing. As you move on to future sexual relationships, you should plan on condoms for vaginal or anal sex, until you and your partner both are assured of mutual monogamy -- at which point you can consider mutual STD/HIV testing as well, for reassurance.
But for the particular exposure described here, no worries; as you put it yourself, you should forget about it.
I hope this has been helpful. Best wishes-- HHH, MD
Welcome. However, this new forum is strictly for people with HIV infection who are seeking advice about treatment, protecting partners, or other aspects of living with HIV and AIDS. The web administrator will move it to the HIV Prevention and Safe Sex forum, and I will reply to your questions there.
HHH, MD