HIV and AIDS
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Welcome to JA and thanks for asking
If there was no physical contact as you have mentioned that the penis was just on the pant and it didn,t had any contact or penetration so it is not possible to get HIV infection in such a way.For transmission of HIV there has to be a contact with the body fluids or any skin abrasions through which the virus can pass.So in your case it is not possible to get an HIV infection.Kissing and licking can only transmit the infection if their is a skin breach through which the virus might pass and even in such cases the transmission rate is very very low.So just rlax you are not going to catch infection in this way.
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