Hey I'm Rebecca, a retrovirologist specializing in HIV/AIDS and other STDs. If you were the insertive partner, and used protection and had no open sores or cuts on your penis, the probability of you catching HIV is one in ten thousand. However, when it comes to other STDs such as bacterial ones like Chlamydia and Gonnorhea, you don't need an open wound for exposure. If you begin to feel symptoms of those diseases, get tested immediately. If not, you have almost nothing to worry about. However I recommend everyone gets checked regularly. But on the HIV front, from what you have described; you should be fine.