What Are The Chances Of Getting Pregnant Without Penetration?

This what had happen. I put on acondom and inserted my penis through her under wear aganist her vagina lips, never inside. after some time the condom got damaged due to friction with her underwear. I pull it out immediately but not sure if my penis touches her vaginal fluid. however i placed new condom and did same thing again until i finished. Please tell how much risk in % chance to get infected with HIV, what you advise me to do and all this happen 36 hours ago. please response urgently. Tks