If she rubbed your penis against her briefly, I wouldn't worry at all. If it was for an extended period of time, and had friction similar to the friction you might have during actual penetrative sex, you might be able to get syphilis, herpes or HPV.
You need penetration to get gonorrhea, chlamydia, NGU, HIV, hep B, trich, and mycoplasma.
There is no risk from the tugging.
If you are concerned about anything, you can test.
Gonorrhea, chlamydia, NGU - at least 5 days post exposure
Mycoplasma genitalium - many places will only test for this if you have symptoms - usually not before 2 weeks, it varies from location to location
Syphilis - 6 weeks - you'd get a round, painless sore as early as 10 days, average is 3 weeks, can take 90 days. Syphilis is uncommon in most developed countries.
HIV - 4 weeks with a 4th gen DUO test
Hep B - if you haven't been vaccinated, 90 days
Trich - this is harder to find in men, probably won't be tested for unless you have symptoms, probably around 5 days.
There is no test for HPV in men.
Herpes - sore typically appear 2-12 days later. You can be asymptomatic. You can get a type specific IgG blood test, but note that there are a lot of false positives on the type 2 test. If you didn't have a real risk for this, consider not testing.