You CANNOT get HIV from having any part of someone's body touch you, regardless of what it has on it.
The only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles.
Touching will never result in getting HIV. Sexually, if you stay away from penetrating someone of unknown HIV status, without a condom, you will never have a risk for HIV.