You had ZERO RISK for HIV.
As an adult, the only risks for HIV are:
1) having unprotected, penetrative vaginal or anal sex, or
2) sharing IV drug needles with other IV drug users.
A penis must penetrate a vagina or anus to be at risk. Nothing you can add to this event will make it a risk for HIV.
You will have to wait in the STDs forum for replies to those questions.