Can i contract herpes by coming into brief contact with an infected penis? it touched my thigh for roughly 3 seconds, then i pulled my pants back up.

Extremely unlikely: Herpes transmission rarely if ever occurs with such brief, superficial contact. The virus usually must be massaed into the tissues for infection to take hold, which is why initial herpes symptoms usually involve sites of maximum friction during sex, like vaginal opening and labia minora in women, penis in men. This sort of contact carries little or no risk.