You Humans sure worry about sex a lot. OK, here is how it is.
Masturbation is a strange topic.
It is considered taboo or sinful by many but is a common, and physically and psychologically safe way to get pleasure. You should not be ashamed at all about your interest in it. Even small children engage in masturbation. Many people believe it is completely innocuous and it is only our society that makes it so taboo. Others make reasoned arguments against the act.