You cannot get HIV from touching vaginal fluids unless you have a cut on your hand. Your skin acts as a barrier against all kinds of bad stuff, but once you get a cut, that's like an open door for the bad things to get in.

Condoms offer great protection, but remember they are not 100% effective.

When in doubt, get tested. Testing is the only way to know for sure, and it's nice to know rather than to wonder!