Is it normal that i touch my self like this?

so ever since i was rly young i always do this thing where i put my hands under my area & have a blanket under there too & ill like rub my self on it rly fast & it feels good. & ive done it my whole life so its a habit. im 17 now & still do it. & i have a boyfriend & were serious & have sex. so its not that i have the lack of that or anything like that. is this normal?