Thank you for asking the consult:
There is no possibility for HIV transmission by the type of sexual contact you had. This is because HIV virus could not be transmitted through intact skin. One exception is if you have an active wound cut or abrasion in you penis skin or mucous membrane. In that case there is a small risk of HIV transmission if the other partner is carrying the virus.
Even though the chance for an HIV is negligible in this situation, I recommend using a barrier protection like Condoms for safeguarding yourselves from HIV and other STDs
Hope this helps. Please feel free to ask follow-up questions via this email itself.