I was with an escort Wednesday night. We proceeded to have intercourse and used the first condom correctly. Midway through the act I lost my full erection, then used my hands to try to get fully erect again with the original condom still in place. I then began to put on a new condom, but felt as if it was not rolling down so I flipped it over. Once again I tried to roll it down the shaft and this is where I realized it was upside down. I flipped the condom over a second time, third attempt to put it on, and then proceeded to engage in intercourse with the escort but finally stopped after about a minute.
After my hands were touching the first condom that had her vaginal secretions, and then touched the inside of the second condom with all the back and forth trouble I had putting it on, which was of course touching the tip of my penis, should I seek medical assistance and possibly begin PEP?