Hello and welcome to e health forum.
The description of the sexual act, with kissing or protected fingering does not indicate a high risk for HIV infection in your case. âEven though you did touch your penis with the fingers, it is not enough for transmission of HIV in your case.
Since there was no actual exchange of body fluids in proportions that matter for spread of infection, there is no need to be concerned about being infected.
There would be no need to test for HIV, as most likely it would be negative.
But in case, you are anxious and do want to get this episode behind you, you can choose to get tested for HIV antibodies via ELISA test, after 4 weeks after the exposure. This will help to calm your mind and get over your past.