Welcome! You can review basic HPV transmission information on our site at http://www.ashastd.org/learn/learn_hpv_facts.cfm
Genital HPV is transmitted through skin to skin contact. This includes any genital to genital contact, as well as vaginal and anal sex.
HPV can exist on skin that condoms don't cover so there is still risk even with safer sex practices, but we recommend condom use as they are effective against a number of STIs and one study (R. Winer et. al) showed that using condoms consistently and correctly can sharply reduce HPV acquisition among females.
Hope this helps,