If you used a condom during intercourse and had no failures like a tear or break then you have nothing to worry about as for as HIV or any other STD. You can get herpes even while using a condom if your partner has herpes. This is especially true if your partner is having an outbreak at the time. You can also get oral herpes from giving your partner oral if they have genital herpes.
Just keep an eye on your self and if you see anything unusual like red bumps on your genitals or mouth see your Dr to be tested.