There's no risk here, even if she used her hand to touch you.
Were your pants off? Did she give you a handjob?
STDs are transmitted by oral, vaginal and anal sex, and sometimes by direct, unclothed skin to skin contact, usually the kind associated with oral, vaginal or anal sex. Think grinding/rubbing/frottage. Friction needs to occur, so it's not just brief touches.
Just to add it was just a handjob and breasts touching me no oral or vaginal sex