An uninfected individual has about a 75% chance of contracting herpes during intimate contact with someone already infected.
Not having visible sores, and other symptoms of genital herpes doesn't exclude the possibility of being infected.
Genital herpes virus is transmitted by close oral, anal, or genital contact, including intercourse, masturbation, kissing, or any direct skin-to-skin contact.
A person can be infected and still not showing symptoms, and can be infective for others when sores are present, sores are healing and when there aren't any sores (even without sores the person potentially always is shedding active virus).
Performing risky sexual activities without protection and with people without known STD status is not a good idea.