Actually, my mistake. I see there was some penetration. My apologies. That is called dipping, and is not as high of a risk as full-on penetration, but a risk nonetheless. Take a DUO test at 28 days. From here on out, you need to be wearing condoms each time for sex.
If there was no vaginal or anal penetration, it is not a risk and you do not need to test.
Oral isn't a risk but stickin the head in kinda is risky HIV is hard to get 1 and 1000 chance so get tested up to be sure