The acts described by you is called "Masturbation ". Masturbation is a very normal practice indulged by both teenage Boys & Girls to let off their sexual instinct. Even adults and married people indulge in Masturbation.
The husband may ask their wife to handle and and fondle the Penis till he gets ejaculation
One need not fell guilty of doing this act. I find the way you do mastubation is strange.
Now I will tell you a normal method of doing this act and you will get very good "ORGASM". Sit comfortablly in a chair with wide open both your legs. Hold you Penis in your right hand and aplly some Baby oil on the Penis to lubricte it. Start stroke it slowly back and forth. After some time the Penis will become hard and erect. Use little force your action. After say 8 or ten minutes you will ejacuate and the semem jerk off from your Penis. At that time you will feel immense pleasurable sensation.
God created human beings to lead a happly life. The trees, rivers, soils, air are all of HIS creation. The trees created by him bear fruits and vegetable for us to consume. The rivers give plenty of good water for our dringing. The soil if you dig deeply will give enormous Petrol ( fuel ) to drive your car.
So whateever faith or religion you are affilileated " Nature " is "GOD".
Therefore God created us to procreate in a natural way by having sex with a Male & female.
HAVE A NICE DAY
Ramakrishnan