I m feeling so so gulity for having sex for first time?

and i m afraid from diesase .. i had sex with women i don t know ..
I didn t put my *** inside her ***** .. it was just sucking and rubbing
i m so so afraid from disease and i don t know why i did that ... is it possible to have disease without putting my *** inside her *** ?
if i go to hospital tomorrow i will be able to check if i have disease ?