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I read in the bible years ago, but can't recall where in there it is, and it said, very close to this, if not a quote, "for it is better to spill his seed on the ground than to defile himself with a woman."
I'm a lady so I can't really get into this subject since I don't know what it feels like to be a man and have a man's temptations and problems, but with my common sense I can assume that no way is it a sin as long as pornography isn't used, and disgusting fantasies aren't used. If it's just a methodical, physical act, what harm could come from it?