I enjoyed reading George's story about doing it differently.
I started humping the bed at five years old. One night I was sent to bed early and was bored, so I pulled my underpants down and started rubbing my soft penis on the sheet. I really don't remember any special feeling other than it just felt really neat, so good that I did it every chance I got. I didn't squirt until I was fourteen, but it still felt great to rub my softie on stuff, indoors and outside as well.
To this day I still masturbate solely by rubbing my penis on the bed with it more soft than hard, and I orgasm with it folded under. It gets fully hard after I cum and lift up.