What Are The Chances Of STD Transmission Through Touch?

Hello last night me and my friend went to a strip club, it was the first time for both of us. During the time one dancer asked if I want a private dance, so I went in the back with her. During the dance I began touching and kissing her breasts, stomach, and butt cheek. She also kissed me on the neck. What I m worried the most about is went I touched her vaginal area for a quick second, then relized what I was doing was wrong. I fear I may have come in contact with a disease or STI. What should I do?