If no penetration with or without condom there is zero risk for HIV.
You had no risk. In an adult, only unprotected anal or vaginal sex and sharing IV drug needles with infected users are a risk for infection. Nothing else including what you described above is a risk for HIV.
Glad to read you were using a condom as in general, that is safe practice. But as others have said, the only way you get hiv is from unprotected vaginal or anal intercourse or sharing IV drug needles. Air inactivates the virus. So, rubbing between your legs would not result in transmission of HIV. Even if you had an abrasion of some sort, this would not be a path to transmission. So, no worries.