My genital was on a girl pubic area for about 10 minutes but did not penetrate her, couple hours later, i feel a tingling sensation which makes my penis head feels like i want to pee, and a strange sensation at the inside of the head of my penis (All the strange feelings is at the inside of the head of my penis) this sensation feels flaming. It has been 4-5 weeks, with this feeling 24 hours a day and it is still there. i am wondering if i got a STD even thought i did not penetrate her. There is no blister, sore or any other visual unusual signs. My pee does not burn. Can somebody please help me I’m worried!

Go see a doctor. Herpes doesn't present within hours of contact, it takes at least a few days (unless you already had it and friction has caused an oubreak). But it could be something else. Obviously something is wrong. The only way to know for sure is to get it diagnosed.