Thanks for writing.
The short answer is: No, that is generally not considered to be oral sex, and no, there is no risk for HIV is the activities you describe.
The longer answer is: We wouldn’t consider the activities you described to be “oral sex“. While it’s possible that some of your partner’s sexual fluids were on her skin, and you may have gotten them in your mouth, that is not generally considered the same thing as “oral sex”. Oral sex refers to direct stimulation of another person’s genitals with one’s mouth. The activities you describe are lower risk than oral sex, and are sometimes called “alternatives to intercourse“.
From the activities you describe, there is no risk of getting HIV or other STIs.
Also, it’s normal to have some anxiety around HIV. Check out our Worry & Anxiety page for ideas on how to manage these feelings.
Hope this helps. Please feel free to write a comment below or submit another question for more information.