HIV is not a concern if you didn't have unprotected anal or vaginal sex, which it doesn't sound like you did. Kissing, mututal masturbation, frottage ("rubbing"), oral sex, etc...are not risks.
Sorry this message was for you...........
You had no risk if the sex was properly protected,as far as kissing there was no risk because it is very hard for hiv to suvive in the mouth, due to saliva glands. And lastly no penatration = no risk, Hiv does not survive out side of the body.What you need to do is learn from this experience so you do not make the same mistakes, it not worth the risk or the stress! But this was a no risk situation and you should be fine, just go get the test done and move on with your life........