As the others have stated, NO RISK. You're asking about rubbing and touching vagina was already explained that it is not a risk. The risks: unprotected and penetrating vaginal or anal sex or sharing IV drugs. Nothing else is a risk. Touching is not a risk. Air is involved. Air inactivates the virus. Please accept this answer. NO RISK.
No one here can determine whether you penetrated her or not. Only you could possibly know.
No penetration = no risk
Brief penetration = extremely low risk. Most people wouldn't even bother testing for an exposure like this, especially since you don't even know if she is HIV+.