As a child, we all go through an exploration phase where we grow curious about our bodies and the physical space around us, and become aware of how there are differences between boys and girls. Out of said curiosity, we begin to explore our bodies and that usually involves using our fingers. Sometimes little boys and girls "play doctor" to explore the bodies of the opposite sex, but that involves looking, and sometimes touching. However, it's in actuality, all very innocent, as the only intention is curiosity and learning what makes us different from each other. Sure, for some there may be pleasure associated with these activities, but as young kids, we don't really grasp the understanding of sex and sexuality yet, so it's all pretty innocent.

I can remember exploring my own body when I was very small, and there wasn't really anything deviant or sexual about my intentions. It was all just pure curiosity. Of course, when I did this during sleepovers at my friends' houses, it was less than well received by said friends and needless to say, the friendship didn't survive. They started asking that I not come over to play, and that was that.

Naturally, these curiosities and behaviors evolve and grow into more and more pleasure seeking acts, such as looking at pictures and videos of naked men and women, but that's just another part of growing up. It's called developing a sexuality. For some, it's perfectly natural to not even be remotely interested in furthering this period of self exploration, as they may be asexual, though some asexual folks do engage in self pleasuring. It all boils down to the individual, I guess.

Sure, some societies and religions demonize this behavior and see such acts as "impure" or "influenced by the devil" in nature, and that only furthers the stigma and shame associated with it. I honestly see the negative treatment of something that is an innate part of growing up to be rather damaging psychologically and physically to a person, especially young girls. For some societies and religions, it's thought that young girls should be kept as "innocent" and "pure" as possible until they are married and that went as far as their very thoughts. This made for some very scared, sexually stunted brides, come their wedding night. However, I digress.

It's all a part of growing up and learning about ourselves and whatnot. I wouldn't beat yourself too much over it.