Hello, My Father Has Hiv And Has Been Undetectable For

Hello,
My father has hiv and has been undetectable for 8 years now (takes atripla). The other day he didn't know his finger was bleeding and the blood was dripping onto a grocery bag that was next to my arm. I accidentally touched the bag and got some of his blood on my arm but I didn't have any cuts or open wounds maybe a tiny scratch. I immediately washed my hands and arm. Now I know that hiv can't be live long outside its host. Was there any chance that I might have been exposed?