Our members have explained what the risks for HIV are and they include unprotected vaginal and anal sex or sharing of IV drug needles. They've already expressed to you that you had no risk.
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Yes, you can resume activity with your wife. Now that how HIV Is passed, hopefully you have a better understanding and won't worry. You didn't actually have a risk here so you are good.
You have lots of HIV threads so likely received enough advice to know all there is to know about HIV. You had no risk.
You wrote this on one thread. " I was diagnosed with OCD earlier this year and currently taking medication." I suggest you talk to your therapist about this encounter last week because this is an HIV forum and we can't provide mental help resources but a therapist can. Consider not going to CSW again until you can get your OCD under control.