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I'm a 30 y/o male who has been masturbating by laying on my stomach with my penis pressing into a closed fist and "grinding" gently until I ejaculate. My penis is soft (or semi soft) and the shaft and head essentially gets pushed "inside" of me (if that makes any sense). I have attempted to masturbate while fully erect by the typical ways my stroking, but the shaft has very little sensitivity. All my sensitivity is in the head of my penis.

First off, is this normal? Its quite embarrassing to discuss or even show a sexual partner the way I masturbate.

Is there a way to re-train myself to ejaculate the more common way?

Is my current technique harming my penis or prostate in any way?

I appreciate any advice.
Thanks.

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The head is where most of the nerves are.
If you are not circumcised, you have a whole bunch of stretch sensitive nerves in the inner side of your foreskin that can be put to use.
But mainly you have to stroke the head.
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