Hi from what you state you had your under ware on as you mention she put her butt on your penis and then you say they did not make contact. If this is so you had zero risk.
Very very low risk. You were not at any risk from the handjob. Hsv can shed anywhere in the boxer shorts area. The virus does shed around 18% of days even when no outbreak is present. That being said you chance of contracting the virus with unprotected sex with a known possitive partner is 1 in a 1000. Now your exposure was a lot less risky and she probably doesn't have genital hsv2.
Your odds are really to low to quantify and certainly warrent no worry.
Hope this helps
Thank you for your answer and support. I don't know why it's giving me a lot of anxiety though. I can't stop worrying
I understand your anxiety. That being said you truely needn't worry.
Alright thank you very much, ill try not to think too much about it