Combined HIV prevention encompasses biomedical, behavioral, and structural health strategies. According to the Manual for Continuous HIV/AIDS Care in Brazil, prevention efforts focus primarily on populations considered vulnerable to HIV, including key and priority populations such as people experiencing homelessness. Social and health assistance activities are essential in promoting health among highly vulnerable populations, including the distribution of food and condoms. The objective of this study was to analyze an experience in biomedical and structural HIV prevention carried out in public squares of Belém, Pará, Brazil, targeting homeless populations. This is an experience report describing a social and health action conducted on May 25, 2025, organized by the research group in partnership with a local community outreach organization. The event involved more than 15 volunteers and took place in the afternoon at Dom Pedro II Square and República Square, both located in downtown Belém, in the Campina district. The action lasted approximately two hours and included the planned distribution of food and condoms. Of the 121 lubricated condoms available, 97 (80.17%) were distributed with acceptance in both locations. Therefore, this joint initiative indicates the need for more assistance-based and field activities aimed at reducing inequalities and promoting income redistribution, as well as health promotion and education through combined HIV prevention strategies of a structural and biomedical nature, fostering the engagement of individuals in positive involvement with health professionals and self-care practices.