HIV cannot pass through intact external skin. But the virus can pass through intact mucosal membranes found in the rectum, vagina, urethra, eye, inner mouth, and nose and ear canals. Any activity which generates blood and creates tissue damage is also risky. Abstinence, masturbation, and contact that does not involve semen, vaginal fluids or blood. It means a lubricant that does not contain any oil and can be washed off with water.
Irritated tissues are even more vulnerable to infection.
Use barriers made of something other than latex, like polyurethane. A latex allergy feels like soreness or irritation in the affected area. Latex or polyurethane with a receptacle tip and a water-based lubricant. Don't use drugs. If you can't do that, don't use needles.