No, but...: Masturbating to reach orgasm can be accomplished by any means to deliver the needed mental and physical stimulation, and is okay as long as not inducing dysfunctional injury to your body. Specifically, rubbing penis against the bed may incur skin abrasion if overdone, so be careful. Of course, other gentler ways may be tried, but remember to avoid overindulgence and obsession.
Answered 7/30/2018
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