When was the last time you jacked off in front of your spouse or partner? Have you ever??
Work up a nice slick pool of pre-cum for your cockhead to slide through.
Play and tease, grab and massage your nuts so that when you do open your pants your cock pops and springs free, slapping against your stomach.
Your cock was meant to be enjoyed and masturbation is, or should be, a great part of that pleasure.