The risk of acquiring the HIV virus from this kind of behaviour is extremely low.
Although, you may be putting yourself at risk from other STD's which are more easily transmitted than something like HIV.
Here's some information that might help you.
http://www.medhelp.org/posts/HIV-Prevention/Rubbing-Vagina-with-penis-Risk-of-HIV/show/255651
Best wishes
TEAK OR GETRIGHT,
The open penis is directly rubbing the vaginal fluids & vaginal bloods. But no penatration
hiv risk?
KINDLY REPLY