Question: A week ago I had vagina to penis frottage with a stripper for 15-20 seconds. She was kind of rough but not painfully rough. She moved back and forth on my penis while the penis bent towards my upper body. i.e her vagina touching lower side of penis and my testicles. Before that she gave me a hand job for few seconds. I am not sure if there were any secretions/blood from her vagina or how much of tip of my penis entered here vagina. I did not have vaginal intercourse. Soon I realized she was naked, I stopped her and about the time I ejaculated. I did not have any noticeable cuts/injuries on my penis. Immediately I went to rest room and cleaned my penis with tissue (not water) and thoroughly with water and soap half hour later when I reached home . Before that I sucked her nipples gently and my lips have abrasions and scars from skin I peeled off but there was no bleeding cuts on lips. Has any of these two incidents pose HIV risk? I am having some worst case assumptions: If the girl is HIV positive and have vaginal secretions or blood landing on my penis? A portion of it might entered into my body through urethra or unnoticeable aberrations or cuts on my penis head or very thing foreskin? I contacted emergency care and Doctor prescribed me PEP upon my request and said my case was a very low risk one. Later I talked to a Doctor friend of my mine and he strongly suggested me to stop take PEP as my case was very low risky and he also mentioned that it is not that easy for HIV to transmit. Especially in my case. But given the low risk or theoretical possibility I want to continue taking PEP. I still have 3 weeks to go but for remaining 3 weeks the cost of PEP would be a considerable financial burden for me but not more important than a HIV free life. If I have to take it I'll bear it. I have seen numerous questions on similar cases but I need specific advise of continuing PEP. Please advise me.

Thanks for the advise doctor. I took the medicine for one week for peace of mind. I will continue to take if it reduces the risk even further.
Few followup questions:
1.Are there any known HIV cases from similar incidents: Non penetrative outer course?
2.How common is the virus entering into male body through urethra or outer skin aberrations or unnoticeable cuts on penis?