I was out with some friends and there were dancers asking for tips. my friends grabbed my hand and made me put money within their underwear. i dont like touching others, but i cant catch anything if i didnt touch down there right? skin contact?

There is no risk for HIV, Hep B or C for example in above circumstances. Hands hygiene rules still apply otherwise as gastrointestinal or respiratory infections can still be transmitted.

If you had no open sores on hand and they had none either on their body than no problem. In the future always be aware who you associate with and don't have sex with strangers unless you practice safe sex.