The only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles with IV drug users.
HIV enters through the HEAD of your penis - not through the shaft or the scrotum. If the head of your penis was covered during intercourse, you had no risk for HIV.
If you do not engage in any of the activities I mentioned above with someone HIV+ or whose HIV status is unknown to you, you will NEVER have to worry about getting HIV. There is no "what if" question that you could imagine about this event that would make it a risk for HIV.
Obviously, no test is needed.