Can hepatitis c be contracted from non penetrative direct (no clothing) genital to genital rubbing?

No risk. Even penetrative sex (intercourse) carries little or no risk for the hepatitis C virus, in contrast to common statements, even by some public health experts. It's mostly an urban myth. HCV is transmtted almost entirely by direct blood contact. The only proved sexual transmission is in men having sex with men, and even then only with potentially traumatic (bloody) rectal sexual practices.