Let's start with exactly how people get HIV. It's very specific. The way that people get HIV is having unprotected vaginal or anal sex or sharing IV drug needles. Air and saliva inactivate the virus. Genital rubbing, genital to genital rubbing will NOT expose you to getting HIV. In all of the years they have been monitoring and studying HIV, there is not a single documented case of it occurring this way. Even his touching his penis tip to your vagina is not a risk. Air exposure is involved and you would not get HIV this way. Absolutely zero risk and you do Not need to test.