Is it normal to masturbate with my friend?

Ok so one day me and my friend (were both girls) were coming in from a party and she started to feel on me. I was horny so i felt on her back.then she took off her pants and started to play with herself and told me to do it to.we both was doing it.and know on a regular basis we masturbate together.is that normal for us to masturbate together?