This is really easy to do, just make sure you're home alone when you do this. I just tried this method this morning, and it works well. First, take a piece of plastic wrap and put some lotion on one side of it. Wrap the plastic wrap around your dick, lotion side touching your dick.
Then take another piece of plastic wrap, do the same with it, and wrap that one around your dick the same way, over top of the other layer. Make sure that the end of your dick has plastic wrap covering your hole. If you're not sure if it's covered or not, put some tape over the end of your dick. Just having this lotioned wrap on your hard dick feels great.
Now, insert your dick in between 2 couch cushions, so that you are on your knees, facing the couch, with your dick inside. Now, just hump away, the plastic wrap protects your dick from a rough-surfaced couch, and the lotion makes it lubricated and slidable. After your done, the plastic wrap acts like a condom, and no clean-up is required. Now just toss the gooey plastic wrap to the very bottom of the trash can.