I had unprotected contact with my penis very briefly (less a few seconds) touching vaginal region with vaginal section. It also feels like the inside of my oenis may hwve been poked by short pubic hair as there is pain directly inside. Can you please tell me my risk fo exposure.  

You do not say much about your partner and from the sounds of things your penis was rubbing the outside of her vagina, but did not penetrate. If this is the case, you are not at risk for HIV or the most common STIs such as gonorrhea and chlamydia.  Further, your symptoms of discomfort within your penis in the absence of any lesions or discharge are not suggestive of an STI. On occasion, persons who are concerned about a recent contact and have been examining themselves carefully have a tendency to notice sensation, which would otherwise be overlooked or go unnoticed or even to irritate their urethra from self-examination.

The brief duration of your exposure also reduces your risk for infection.

From what you describe, I would not be concerned and would not feel the need for testing unless new symptoms occur were the symptoms that you have get worse.EWH

That's correct.  I rubbed outside the vagina very briefly until I came. Does that change the risk as all or day the same? Thanks. 

You have one follow up remaining if needed.  Please don’t worry.  EWH