Welcome to the forum and thanks for your question. Congratulations on using safe sex for casual or non-monogamous sexual encounters.
While it is best that the erect penis be withdrawn, with the condom, promply after sex, your epxerience is very common -- i.e. withdrawing and leaving the condom in the vagina. It is considered that sex was still fully protected with respect to HIV. HIV is hard to transmit: with entirely unprotected vaginal sex, if the woman is infected the transmission risk for her male partner averages somewhere around 1 in 2,000 (equivalent to sex with infected women daily for several years before trransmission becomes highly likely). What then can the risk be with the brief, transient exposure to vaginal secretions from this sort of withdrawal problem? There might be a slightly elevated risk of other STDs, but not enough to cause serious worry.
The cracked lips etc. make no known difference in risk of acquiring HIV or other STDs. In theory, a nearly zero risk might be slightly higher, but still too low for worry.
If you find these comments reassuring, nothing need be done. On the other hand, if you remain concerned, you could visit a doctor or clinic for STD/HIV testing if the negative results would help you with your anxieties about it. And all people who are sexually active outside mutually monogamous relationships should be tested for STDs and HIV from time to time, even if there have been no obvious lapses in safe sex. So if you haven't been tested in the past year or two, this might be a good time, while it's on your mind. But not specifically because of the events described.
I hope these comments have been helpful. Best wishes-- HHH, MD
Thank you for your help, replying so quickly, I really appreciate the advice, Many Thanks