This is not a risk. Touching bodily fluid will not transmit the virus. Air inactivates the virus. Therefore, the only ways that adults get HIV is from UNPROTECTED vaginal or anal sex or sharing IV drug needles. The transmission only takes place INSIDE the body. Genital rubbing with or without cuts will not transmit the virus. It is not INSIDE the body. So, this is of no worry and is ZERO risk.
The only ways HIV is spread are:
-Unprotected anal/vaginal penetrations.
-Sharing needles to inject drugs.
-Mother to child.
Rubbing is not a risk.
All the best.