Is a relationship like this normal?

Another guy and I have been close friends for a while and we've started 'sexually pleasing' eachother. It started as showing eachother our penises than talking about girls than we would masturbate infront of eachother and then we would just do it for eachother. We aren't gay, nor bysexual. We art sexually attracted and don't have a relationship beyond friendship. Is this normal? Sometimes it goes a little beyond that, he has a foot fetish so I've given him a foot job, but really it's all because we just don't have girlfriends. When we do we never do it.