Is it normal to masturbate with another guy?

I have a really good friend, we have been friends since 2nd grade, and now a few times we have masturbated together. we are both strait, not attracted to each other, but a few years ago we once masturbated next to each other laying on a bed, no touching. Then once it was late at night and we both masturbated together on the couch, and had a fun time with it. yeah we looked at each others dicks once and a while and compared how much cum there was, but there was no touching or attraction between us two. Then One final time, that same weekend, he started to masturbate in the room with me and I joined him, again it was a fun time. Is this normal? I know it doesnt really make us gay because we arent attracted to each other. I have always wanted to maybe help each other out and maybe give a handjob, not because I like men, but I think it would be a good may to have some fun and get a good orgasm out of it. how would I approach that situation, could I just reach my hand out and grab his penis, and maybe he will accept it and grab mine? Is this normal? Thanks