How do you masturbate?

So this is really hard for me to post but I have been dealing with this for a couple years now. The ONLY way I can get off (that I know of) is something called pillow humping. I know it sounds weird, and no, I don’t use the pillow I sleep on. I just need to know I’m not alone. And what can I do to incorporate how this gets me off into my regular sex life?