Can you get HIV by the head of a penis touching your vagina? Not going inside...just staying on the outside.
Thanks for your question,
This is most probably not going to transmit HIV. However, you'd actually be a better judge of that, since you were there.
What we're concerned about is semen going from the penis inside the vagina. There was no condomless penetration. That's good. But if someway semen got inside of your vagina, that could be risky.
But from what you're describing, it sounds like that wasn't the case.
Hope this helps,