When I was younger, my friend and I were obsessed with wrestling. We would constantly play around at each others' houses and act like we were on TV. One day though, when his parents weren't home, it was suggested that we strip down and do it naked. Being young teens, anything that involved being naked was exciting, so we took off our clothes and started wrestling around. As soon as we started rolling around, we were laughing and giggling like little boys, and almost instantly we were both getting hard. At one point he was on top of me, and all of a sudden I had a hard, sweaty penis right in my face, bobbing back and forth. To get him off me, I reached up and squeezed it, which made him jump up. After I did that, the game mostly consisted of trying to grab and pull each others' erection.
This went on for a few minutes, but eventually we realized how good it felt and just sat there pulling on each other. We were both inexperienced and had never masturbated before, so we didn't know what was going on, but we both knew it felt good. We didn't know we were supposed to stroke, so we just took turns leaning back and letting the other squeeze and pull our hard penises. After a couple of minutes, he started breathing harder and tensed up, then started shaking and fell onto his back. We didn't know what happened but he said it felt amazing, so I leaned back and let him work on me. He squeezed and twisted my penis for a while and I started to have the same feelings, and I told him it was happening. He then used both hands and I had my first orgasm. We just laid there for a few minutes before his parents came home and we hurried to get dressed.
Later on I told him how amazing it felt and we decided to try it again, and after a couple weeks of this, we both started shooting cum. We eventually learned how to masturbate the right way, which made things so much more pleasurable. We would stroke each other constantly for a few months before we decided it was a little weird, but then went to just masturbating in front of each other until we learned that guys don't really do that. Afterwards, we still talked about it and never felt ashamed about doing it though.