My vagina and vulva area was in contact with penis no penetration just rubbing. Is this HIV risk?

Here are some ... STD-containing body fluid such as pre-ejaculate or ejaculate will allow STD to gain access into the body through any barrier-break-down spots - visible or invisible. But, not all got-in STD agents can establish their beachhead to cause STD infection because of individual highly variable immune defense mechanism and ability. So, practicing low-risk healthy lifestyle without obsession is key to live.