Your question has been fully answered by our members that you did not have a risk for HIV from what you describe. We wish you the best.
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I agree with Diver58. No cause for concern. A penis has to penetrate in order to spread HIV. Only ways people get HIV is through vaginal or anal sex or sharing IV drug needles--- because transmission has to take place INSIDE the body. Air inactivates the virus. So, you are all safe.
In your situation, there is no penetration so no risk. Precum though included in the infectious body fluids, its contact to an intact skin has no risk, and its exposure to ambient oxygen inactivates the virus instantly
So your risk does not seem to exist
Not to mention there was a little bit of Pre-cum