Welcome to the forum. Thanks for your question.
HPV is rarely transmitted without insertive oral sex. In other words, without your penis entering another person's vagina or rectum, you are at liitle or no risk. If transmission occurs by oral sex or by non-penetrating body contact of the sort you had, it is rare. And everybody gets HPV anyway; it is useless to try to prevent it. Fortunately, the vast majority of infections clear up, even without treatment, and never cause cancer or any other serious health problem. HPV-related oral cancer is indeed increasing in frequency, but it remains rare.
In other words, there is no need for your to be "VERY concerned". Below I have given a link to another thread with discussion about HPV; it has links to several other discussions. Together, these discussions should reassure you about sexual transmission of HPV. Please read them.
http://www.medhelp.org/posts/STDs/HPV-concerns/show/1819004
I hope this has helped reassure you. Best wishes-- HHH, MD