No, HIV cannot be gotten from simple body rubbing. HIV is transmitted through blood and other bodily fluids. That is why the two most common ways to get infected is through blood transfusion and through sexual intercouse because there's much exchange of bodily fluids.
If an infected person has a bleeding wound and the other person is not infected but has unhealthy broken skin, if they rub body and blood from the infected person gets into the unhealthy skin of the other person, it is possible to get infected.
Keep in mind that infection through this means is not common compared to the two other ways mentioned above.
HIV is spread through bodily contact. That can be from blood or other bodily fluids. When the infected bodily fluid spreads to another bodily fluid, then the HIV has spread to the other person. Most common ways of spreading HIV is through sexual contact and blood transfusions. If blood is tainted with HIV, then the tainted blood goes into someone else’s system.
The same can be said for sexual contact. Fluids are exchanged during sex and one person who is infected may give it to the other. Simply rubbing bodies together will not expose one person to HIV most likely. The only way it would is if both people have open wounds that are bleeding. The blood from the infected person would have to seep into the other person’s open wound.