There is NO RISK for HIV or any STDs from this event.
The only risks for HIV in adults are:
1) Having unprotected (no condom) penetrative anal or vaginal sex, OR
2) Sharing IV drug equipment with other IV drug users.
For STDs to transmit, you need genital skin to genital skin sontact, or mouth to genital contact. Breast to genital contact is not a risk.
This activity did not put you at risk for anything.