There's no need to panic. The only adult risks for HIV are:
1) Having unprotected penetrative anal or vaginal sex, OR
2) Sharing IV drug equipment with other IV drug users.
There is no other event that will cause you to be infected with HIV. You had ZERO risk for HIV.
What do you do? You move on with your life as if nothing happened, because nothing happened.
Since you used it for protection, it did what it is meant to do. It prevented semen and blood from entering your body from the tip of your penis.
Your fear is irrational, you were not at risk and do not need to test. See a counselor if you are unable to think logically.
Worrying about an event is not the same as having an actual risk exposure. Our members have fully advised you that you had no risk. If you continue to experience anxiety about this no-risk event, we strongly suggest seeking the advice of a counselor, as mike_no suggested.
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