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please define penation

Hello this may sound dumb, but I'm anxious.
Basically I had lap dance wearing loose shorts that rise up during dance. So I'm concerned my d!ck was poking thru bottom of shorts. I can't remember all things, since I was nervous when this was going on.

So no penatration no risk, I understand. But the tip of my penis could be coming into contact with her bare ******* or vag since our genitals are so close during dance. Is penetration  start at "the helmet" portion of my D  going thru? or is it more like base. I heard hiv infect involves deep penetration, but I can't remember if I've read that.
Mostly I know its possible IF my penis was poking thru shorts, my penis tip could have come into contact and nothing more. But what if I got as deep as the helmet portion of my D going thru (definite not the rest of my rest of my shaft going in),  I'm anxious about details.  Where does penetration danger begin?
As far as I'm concerned she might as well be nude, since her g-string seemed kinda loose.

Also a few hours later I felt a weird pinch sensation at penis tip that lasted a few seconds (then it was gone). I don't understand what that was all about.
2 other past times in life I had that pinch sensation at penis tip would occur a few hours after sexual encounters I wasn't comfortable with followed by uti diagnosis working with a very strange doctor causing me years of on/off anxiety.
But this time it was just the penis tip pinch sensation that last a few seconds.

Please answer my Qs on penetration and penis tip pinch after incident
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20620809 tn?1504362969
Anxiety makes our minds illogical.  Makes us doubt what others never would.  Makes us question and question. Best advice since you've been asking about lap dances for decades is to either forego the triggering events of getting lap dances or seek professional help for anxiety.  Penetration . . . penis actually fully IN a vagina or anus.  Penis on or near?  No penetration. We're not going to sort through your mountains of  anxiety.  It's simple.  If your penis was inserted into the vagina or anus, that's penetration. Sincerely doubt this is you considering the level of massive anxiety you exhibit.
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