I jacked off near my friends while they slept
Are you being serious? What did they do when they found out?
They didn't know I did that.
You shouldn't masturbate near others without their consent. It can be considered a form of sexual harassment and there could be serious consequences for you.
God, you said it wrong. It's not sexual harassment. It was just harmless fun.
It is not the norm to do that in front of others or in public. People will get upset and then you would be in serious trouble.