Sorry abagela, your answer is not clear it seems to. True, this is the HIV prevention community, so the question should be cast in terms of (possible) furture actions, not in terms of actions from the past. But now to assess your answer: if people can enjoy without worrying, however many vaginas they want to rub their penises against, then why does it (i.e., the chance of getting HIV from rubbing a penis against a vagina) depend on how many different vaginas are in play?
The question is not clear. You have already rubbed your penis on vagina. Why are you worried now. What ever has to happen, has happened. Is this question for next time precautions. It depends on, if it is same vagina or different every time. Any way just enjoy one or many. DO NOT WORRY !
If your penis remians outside, than you are not at risk of HIV.