Hi, I masterbate everyday by putting a cloth in my underwear, laid down and rubbing my penis with the bed mattress, does that affect my sexual wellnes?

Here are some ... How to masturbate widely varies among men in different cultures under different social environment, but all with the same goal for reaching orgasm and ejaculation. So, how you've been doing would not affect your sexual wellness as long as not inflicting mental and physical harm; there is nothing right or wrong in how to masturbate.
No harm. Masturbation, no matter how frequent, never harms health, sexual or otherwise, with very few exceptions, such as: a) overtly traumatic, causing injury; b) if so frequent it interferes with daily life; or c) it is causing severe anxiety or guilt.