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Genital to genital rubbing is a risk factor for transmission for STD's including HIV.
It also depends on how long the two of you were engaged in the act. The longer the act continues the higher the risk because obviously there would be more wear and tear for the microbes to enter into the system
If I was the treating doctor I would also suggest testing for STD's (gental herpes, HPV, syphilis, gonorrhea, chlamydia) including HIV.
In case you develop
vaginal discharge, burning while passing urine,
genital ulcer or notice any genital growth, you should report it immediately to your doctor.
History of
cervical dysplasia is significant; one reason could be because you already have
HPV infection, which is an STD.
High risk HPV types (types 16 and 18) are associated with cervical dysplasia and
cervical cancer. A woman with cervical dysplasia needs regular monitoring with Pap smear and colposcopy to detect any cancerous changes at an early stage.
Regards