This was an exceedingly low risk event for both HPV and HSV. Neither is easly or frequently transmitted by genital contact without penetration, or by hand-genital contact. Nobody can say the risk is zero, but undoubtedly very low chance. If you do not develop typical asymptoms of either virus (genital blisters/sores within several days, warts over the next several months), you can safely assume you were not infected.

Of course you already have (or have had) genital HPV, assuming you have otherwise been sexually active. If this was your first and only sexual encounter, you probably aren't infected yet, but you will be:  almost all sexually active persons acquire genital HPV, often several times. It's an unavoidable, expected consequence of being sexual. This is why HPV prevention (pap smears for women, vaccination for everybody) are reommended for all persons, not only those at high risk for other STIs. I would therefore encourage you to be vaccinated against HPV, which will prevent infection with the 9 HPV types that cause ~90% of warts and cancers. And then do not worry at all about HPV.

I hope these comments are helpful. Let me know if anything isn't clear.

HHH, MD

That there was limited rubbing/friction probably reduces your risk. On the other hand, 10 minutes might have carried more transmission chance than a shorter duration. But still your risk was low:  there seems no particular reason to suppose your partner has a currently active, transmissible HSV or HPV infection. In other words, it isn't just transmission risk that matters here, but the combination of infeciton likelihood in the partner plus transmission risk. All things consdiered, I still consider that you had a zero risk exposure for all practical purposes and should stop obsessing about it!