I guess I learned about masturbation from my cousin, she was sixteen and I was ten. It was late after a football game and my dad, sister, mom left the car to go and see my brother, as me and my cousin sat there waiting for their return.
I started rubbing her blue jeans, I got closer to her pussy and rubbed that spot for a while. Then she told me she was going to do the same to me, so she rubbed my penis for a while and as I proceeded she unzipped her pants, she then pulled them down to her knees and told me to rub her pink panties. As I did so she unzipped my pants and started rubbing my hard cock. I rubbed her clit for a while and then she took her shirt off and started rubbing her nipples, then after a while she came all over the back car seat.
I came with her and then we talked about what we just had done, then when my parents and bro and sis got in the car they just looked at us. I guess they saw a small drop of cum on my jeans.
Now although me and my cuz are very close, we never did it again, but me and my girlfriend do it all the time.