Masturbation is something that most people have engaged in. The shame or lack of shame towards it depends on your attitude and perception of it. Enjoying it something that cannot be taught with technique. Enjoyment comes from your willingness to accept it. You have to answer the questions to your objections before you begin. Once you have settled those doubts you can then engage in the basic techniques.
Varying your masturbation technique even slightly can greatly increase the pleasure you achieve. And, while masturbation is by nature a solitary activity, that doesn't have to be the situation all of the time. Lovers can engage pleasure each other while pleasing themselves, sharing and immensely intimate sexual activity with their partners.
Even when engaging in mutual masturbation there will need to be certain amount of articulation as you show your partner what works best for you. So should the same be with yourself. Examine what you are doing and what you want from this experience. Don't be afraid to articulate those needs, even to yourself.
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