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Reading or viewing pornography, sexual fantasies, or other erotic stimuli may lead to a desire for sexual release such as by masturbation.Some people get sexual pleasure by inserting objects, such as urethral sounds, into the urethra (the tube through which urine and, in men, semen, flows), Some people masturbate by using machines that simulate intercourse.

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Animal masturbation has been observed in many species, both in the wild and in captivity.

The English word masturbation was introduced in the 18th century, based on the Latin verb masturbari, alongside the more technical and slightly earlier onanism. Suggested derivations include an unattested word for penis, *mazdo, cognate with Greek mézea μέζεα, "genitals", or alternatively a corruption of an unattested *manusturpare ("to defile with the hand"), by association with turbare "to disturb".

Lying face down on a comfortable surface such as a mattress or pillow, the penis can be rubbed against it.

This technique may include the use of a simulacrum, or artificial vagina.

The legal status of masturbation has also varied through history and masturbation in public is illegal in most countries.

In the Western world, masturbation in private or with a partner is generally considered a normal and healthy part of sexual enjoyment.

This type of stimulation is typically all that is required to achieve orgasm and ejaculation. Male masturbation techniques may differ between males who have been circumcised and those who have not.

Some techniques which may work for one individual can be difficult or uncomfortable for another.

Masturbation has been depicted in art since prehistoric times and is mentioned and discussed in very early writings.

In the 18th and 19th centuries, some European theologians and physicians described it as "heinous", "deplorable", and "hideous", but during the 20th century these taboos generally declined.

The shaft skin can also be slid back and forth with just the index finger and thumb wrapped around the penis.

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