Masturbating

So I’ve been told most of my life that masturbating is wrong but recently I think I’ve found that that is false... however I still feel really uncomfortable doing it and I don’t really know how to do it to make myself cum or what cumming really even is... if anyone has any tips for me to feel better or what I can try doing to get off that would be appreciated thank you😊 ( I’m 16 btw and I squirted before with my ex but don’t know if that was cumming )