Large plastic cup
large latex glove
2 sponges, large enough to make it a squeeze when you put them in the cup
lube of some kind
Put the glove between the sponges with about 2 inches of the wrist hanging out. Stuff the glove and sponges in the cup. Add lube. If the sponges and cup are each the right size... well, you'll know.
Alternatively, use lube, a large plastic bag, some lube, and a couch: cut the ziploc portion of the bag off, add lube, place between couch and cushions. Hump away. Maybe have a towel underneath for any lube or "stuff" that falls out.