Hello,
thanks for the query
Vaginal fluid is a highly contagious fluid especially in people
 who are not yet on anti-retroviral  drugs.
However, the fluid has to be transmitted through particular
 points for contamination to occur. Such points include, 
wounds, mucous membranes (penile opening, anal/rectal
canal etc.)
The skin without wounds nor cracks is not susceptible to 
transmission of 
HIV. Thus in your case, the chances of you 
contracting HIV is high if you had wounds on your hands and 
the chances are very low if you had no wounds nor did the 
vaginal fluid get into your penile opening.
Hope this helps you
Dr Achuo