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Did the person who was giving the massage say anything?
You can not do what you did. Even though your genitals were not exposed, you can not lay there and touch yourself in that manner. If nothing has happened to date, it is unlikely that everything would. If you wanted to go back, that would be at your discretion but it may be better to find another place, to avoid any possible contact or cause problems. If you did go back, nothing should be said or mentioned, unless it is brought up by them and you should never do this again.
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