I Had Recently Engaged In M2M Sex At A Bathhouse.

I had recently engaged in M2M sex at a bathhouse. I'm a top and the bottom sat on top of me. His anus is rubbing against my dick (without a condom) and I can feel that at some point of time, my dick could have went into his anus slightly.

I am quite worried about this as I do not know his HIV status. Does this warrant me to take PEP?

For your kind advice pls. Thanks.

GL