In ancient times, representations of both male and female masturbation can be found in prehistoric rock art worldwide, suggesting a connection between human sexuality and natural abundance. For instance, a clay figurine from around the 4th millennium BC, discovered on the island of Malta, depicts a woman masturbating. However, depictions of male masturbation were more prevalent in ancient societies.

Among the earliest known civilizations, the Sumerians demonstrated a liberal attitude towards sexual practices. They believed that masturbation could enhance sexual potency for both men and women, often engaging in it alone or with partners. Special oils, like puru-oil, were used by men to increase friction. In Sumerian mythology, the act of masturbation was associated with creation, as the god Enki was said to have formed the Tigris and Euphrates rivers through this act.

Ancient Egyptian culture also attributed significance to male masturbation, viewing it as a creative or even magical act, with the god Atum believed to have created the universe through masturbation. In contrast, ancient Greek society viewed masturbation as uncouth, suitable only for slaves, barbarians, and women.

The terminology surrounding masturbation in Greek culture, such as "to soften," hinted at why it was considered indecent, as it clashed with the active/passive dynamic of male sexuality valued in Greek society. While ancient Greek comedy and pottery provide insights into attitudes towards masturbation, ancient Roman sources offer limited information on the subject, though it was sometimes depicted as an inferior form of sexual release. Interestingly, some cultures, like the Aka and Ngandu ethnic groups in the African Congo Basin, lack words for masturbation in their languages, indicating a conceptual gap regarding the practice.