I learned to masturbate when I was 14 years old. I had gone on a summertime camping trip with my father and a few of his friends. There were two other boys slightly older than me on the trip as well.
We went on a hike one day, without our fathers, and the conversation naturally turned to girls, masturbation and sex. I had never masturbated before but the other boys said that I should try it and explained how. I had been getting hard at night and had experienced a wet-dream.
When I got home from the trip, my mom made me have a bath. In the tub I started thinking about what I had been told, got hard and soon had my first orgasm and ejaculation. I really enjoyed the sensation and felt no shame in doing it.
From that day on, even today, I still masturbate almost every day.
A couple of weeks afterwards, I was masturbating in my bedroom when my sister and a friend walked in on me. She asked what I was doing and I told her I was jerking off and it made me feel good.
I continued what I was doing until I came with both girls watching. They both thought it was gross and left.
The other girl told her sister, who in turn told her mother who then called my mother. My mother had talks with both my sister and I and came to the conclusion that the girls had invaded my privacy and there was no harm done. She told me not to jerk-off in front of any of my sister's friends anymore.
A couple of days later, my sister told me she was sorry for what had happened as she thought I was in trouble. Our mother had given her the full facts of life talk and she was somewhat overwhelmed.
I was very curious about what she had been told and girl stuff in general and got her to explain everything that our mother had told her.
We ended up naked and touching each other's bodies. Her breasts had not really started to develop, but she had some pubic hair. She let me slide my finger inside her vagina and I can clearly recall feeling her tiny cervix deep inside. I was hard and began to masturbate and tried to describe the feelings of pleasure.
She said it was too bad that girls did not have a penis so that they also could feel the same way. I told her that I knew that girls could masturbate too but did not know how.
After I came, we got dressed and promised not to tell mom what had just happened.
The next day, she came to me and said that she had asked our mother if girls could jerk-off too and mom had told her that they could but in a different way. I guess she figured it out because she told me that she had an orgasm in the bathtub that morning.
Over the next couple of years my sister and I developed a routine of watching each other masturbate.
She liked to touch herself in the bathtub and I would watch. She also liked me to watch when she used the toilet or inserted tampons. I like to do it before falling asleep each night. My sister would come into my room through our connected bathroom so my parents would not know. I would lie on my bed and masturbate with one hand while she sat beside me. She would let me finger her or we would just hold hands.
We never had sex and she was always very careful not to touch my ejaculated sperms. This went on until I was a senior in High School and it just sort of stopped one day.