The penis, even when erect, is used to being manipulated in various positions as a normal part of any sexual activity. It would take some violent action with severe local pain and bleeding for any more serious difficulty to arise. So don't worry about what happened and the minor discomfort you are having with certainly fade away rapidly.
Answered 6/14/2023
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You might have strained the area which should recover in a week or so. If anyother symptom pl see a Urologist for you would need an exam.
Answered 6/14/2023
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