First of all I would not advice you to re-use a condom. But since you washed and cleaned the condom and if it didn't break, you should be fine.
Further if your penis didn't have direct contact with her vagina, or you or your partner didn't have abraded skin at the point of contact be it while kissing or oral sex
and none of you are HIV
positive or carriers there is no need to worry about contracting it.
But for your satisfaction you can still take the ELISA
rapid test which is available over the counter.
Thanks and I hope this helps.