###Human: My penis could have touched vaginal fluid in the condom. Is there any chance for HIV? ###Assistant: Hi. The answer to your question is simple. How long do you live in water? The same is applicable to HIV virus too. How long HIV virus survive in outside environment? Here the answer is a minimum of eight seconds and a maximum of 30 seconds owing to environmental temperature. So, in your condition, even if she is infected, having a virus in vaginal fluid and then on your underwear, the virus is not able to survive in the outside environment and again virus has no capabilities to breach skin and pass into the body. So, the chance of acquiring HIV in the context you explained are not valid for transmission in any way. So, nothing to worry.