I Recently Had A Foreplay Activities With A Woman Of

I recently had a foreplay activities with a woman of unknown status at night inside a blanket. I did not insert my penis in her vigina (we had no penetrative sex) though she was rubbing her hands on my penis opening my urethra. could I be at a risks of contracting HIV in case she rubbed my penis urethra with her hands(covered with viginal fluid) after she deeply fingered her vigina?