Who would prescribe PEP for you based on what you say happened? That's not an indication for using PEP which is reserved for penetrative sex with someone CONFIRMED hiv positive. You had no risk. The only risks for HIV are to have unprotected vaginal or anal sex or to share IV drug needles to inject drugs. Touching, fingering, frottage through a towel? None of that is a risk. Air inactivates the virus. Yes, you should be able to stop pep. Speak to your doctor first before discontinuing any medication but you absolutely don't need pep and shouldn't have started taking it.