I have not heard of sexually transmitted infections (STI) passing with the activity you described.
There would be no need to go for a STI/HIV test based on the sexual activity you had at the massage parlor.
Have a look at our “Know your chances” web page, it provides information on your chances of getting or passing an STI depending on how you are having sex.
I hope that this information helps you feel better. It is common for people to feel anxious and a bit down after having sex they are uncomfortable with.
Please leave a comment to let us know if this answers your question or if you need more information.
For other readers, please feel free to leave a comment, or let us know if this was helpful.