Thanks for your question.
The activity you have described sounds very low risk for sexually transmitted infections (STIs).
Take a look at this great chart that outlines the chance of infection with other kinds of sex like genital to genital contact (not oral, vaginal or anal sex). It includes the difference between sharing of body fluids and no sharing of body fluids:
There is always a small chance of passing STIs such as HPV (human papilloma virus), herpes and syphilis with genital to genital contact (or skin to skin contact). When body fluids are involved in genital to genital contact, there is also a very small chance of gonorrhea, chlamydia or HIV being passed. It really helps if the skin being exposed to body fluids is intact (there is no open skin like cuts or sores) as someone with non-intact skin (open cuts or sores) is more likely to become infected.
If you aren’t already having routine STI screening, I would encourage you to find the clinic nearest to you. Here is the clinic finder:
It’s a good idea to get tested yearly, or more frequently based on your risks. Here are some other reasons to get tested:
I hope this helps.