I had an encounter 3 days back, it was in a bar, had a private lap dance. We both were dressed, me with Jeans and she with her g strings ON. She sat on my lap and was moving forward and backword. There were kissing and we both licked out nipples, no genetals touching. I did touch her vagina thru the panties, guess did not do it directly...Do I need to test for HIV/STD..? This lasted for 30 mts, I did not ejaculate, not sure about her, came home and took a hot shower.