I had an encounter 6 days back, it was in a bar, had a private lap dance. We both were dressed, me with Jeans (no undies) and she with her g strings ON. She sat on my lap and was moving forward and backward. There were kissing (not french types) very very negligible and we both licked out nipples, no genetals touching. I did touch her vagina thru the panties, guess did not do it directly...Do I need to test for STD..? This lasted for 30 mts, I did not ejaculate, not sure about her, came home and took a hot shower. Not able to identify any visible symptoms though...Pls help.