If you both had clothes on, then you didn't have sex.
What you did places you at NO risk for HIV. In order to be at risk for HIV as an adult, one must either have UNPROTECTED vaginal or anal sex with an infected person, or share IV drugs/drug equipment with an infected person. That's IT. Very easy to remember. So, if you always use condoms for insertive sex (vaginal or anal) and don't share IV drugs, you'll never have to worry about HIV, end of story.