Does Having Non Penetrative Sex Cause HIV Infections?

Hi and thank you for your time! Even though I read quite a lot about this matter I am still quite stressed. Two days ago I went to a strip club where I rubbed the vagina of one of the strippers there. I did not penetrate her, I was playing only with her labium. She was not really wet however I could feel some moist on my fingers. I touched her 2 or 3 times and that was it. The problem is I am biting my nails (not too severe though) and also biting the skin of my fingers just above the nails, which sometimes leads to sort if scratches. This night I did not have big scratches nor ones that were bleeding, but there were small old ones that are healing. As far as I remember these scratches did not contact here vagina fluids. Again to clarify I did not penetrate her, just touching outside. Was I at HIV risk? Could I have got infected with HIV? Are there any cases where someone got hiv from something like this? Thank you very much and I really appreciate your time and concern.