Keep all your clothes on. Simply rub your clit. It is not as sensitive when you leave you panties and pants on, but it is still very pleasurable and is easy to do even if there are other people in the house, just as long as you are in another room and do not get to loud!. Also, when you are about to cum, stop for a few seconds, and try a few pulses of just pressing where your clit is.
I always masturbate like this, and it is much better if you look at some hot pictures or videos while doing this. Happy Masturbating!