You did not have any risk for HIV, and you do not need to test. The only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles.
There is no other activity you could think of, including the event you mentioned, that would put you at risk for HIV.
However, you should NOT wear 2 condoms for intercourse. Wearing two condoms results in friction between the condoms, and it is more likely for the condom(s) to break. One condom is sufficient to prevent HIV and pregnancy.