Did you go ahead and have sex with him?
If you didn't, chances are pretty low that you'd get it from brief contact that you aren't sure happened.
If you did, even with a condom, yes, you're at risk for getting it, though the condom reduces the risk a lot.
Keep in mind that while no one wants HPV, chances are really good that you have already had it, at least one strain of it, anyway. Most experts feel HPV is an inevitability if you are sexually active now, and most people will never get symptoms.
That said, I don't blame you a bit if you said no to having sex with him. Just because you may get it doesn't mean you should guarantee it.
Have you been vaccinated for it? There are vaccines for the most common strains. Talk to your doctor or your local STD clinic.