Herpes is an STD, so generally sexual contact is how you get it. However, there are other scenario's.
Oral herpes can be spread by kissing. This includes just kissing a friend. If a person has oral herpes, they could conceivably spread it to their genitals by touching their mouth and then their genital area. It's not common, but it happens.
Herpes can also be spread through oral sex - someone with oral herpes could perform oral sex on you and give you genital herpes. Or if you performed oral sex on someone with genital herpes you could get oral herpes. If you are touching your partner but not engaging in sex, this could also transmit the virus, through your fingers.
It's POSSIBLE, although very rare, for the virus to be transmitted by using the same towel as an infected person. Be aware - the virus lives for less than 30 seconds outside the host. That time can be extended on a moist warm towel, but not by too much. So this is possible, but is rare.