No, this is not what you said. You said you TOUCHED it. You said it didn't penetrate it. Don't let irrational fear change the facts.
You need to think rationally about what you are writing. A. you touched a needle. Whether it had been used previously or not, AIR inactivates it. And touching it will not give you HIV. B. even if you stuck it into your skin, it's not a plunger like an IV drug needle so it does not transmit HIV into the skin. And C. the needle is in your OWN home so why would it have anything to do with HIV?
Don't let anxiety play these tricks on you. Unless you do the above things, you won't get HIV.
No, you can not get HIV from 'touching' things. The risks were already explained to you--- unprotected vaginal or anal sex or inserting an IV drug needle into a vein. Air inactivates the virus. This is not an hiv concern