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Self-pleasure, also known as masturbation, specifically refers to touching yourself sexually in a way that feels good. There is no right way to masturbate, and as long as it doesn’t hurt, there’s no wrong way either. You can do it alone, with a friend, or as part of sex play with a partner. Pleasuring yourself, on your own terms, is a way to deepen your relationship with the most important person in your life—you!