Hi, I am Doctor SJW and I would like to help you with your question.
If your skin was unbroken (you had no open cuts or bruises etc.) then you do not need to be worried about HIV. If the substance touched an area that was an open wound, or it went inside your mouth, vagina (if you are a female), or anus, then it is possible to get HIV that way.
Just wash with soap and water and don't worry about it. If you really want to be certain, you could always see your doctor for an HIV test, but I think it is unnecessary.
I hope this answers your question. If it was helpful, please remember to hit the "ACCEPT" button. This will help me be available to help other people like you with similar problems.
If you have any more questions, or would just like to chat, please feel free to ask me. Good Luck! Dr. SJW