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"touching herself" is grammatically correct and can be used in written English.
It is commonly used to describe someone engaging in self-stimulation or self-pleasure. Example: She was lying in bed, touching herself sensually as she thought about her lover.
Exact(21)
"Nao me pegue, nao me toque" ("Let me be, don't touch me"), she sang, moving slowly, lightly touching herself.
One model stares boldly back while touching herself; others are masked, half-clothed or reflected in mirrors.
In "Fingers" (1999), the hand of a nude touching herself between her legs splays to become a detached, willful, de Kooningesque cipher.
The movie begins in medias neurosis, with Spielrein, visibly distraught, rocking back and forth, making faces, and touching herself in peculiar ways as Jung patiently tries to elicit something coherent from her disconnected utterances.
One minute, the hordes would be shuffling to Touch Me by Sam Fox, with a Sam Fox-ish lookalike being lowered from the ceiling in a plastic gondola, half-heartedly "touching herself" as punters tried to look up her skirt.
Orso himself has masturbated so many times in his life to the idea of this kind of lonely girl touching herself in a convent or a garret that the question is automatic, but at this moment not interesting.
Similar(38)
In another, she touches herself.
She touches herself and smells her fingers.
To develop the role, he instructs her to go home and touch herself.
She touches herself and smells her finger and catalogues her body's flaws.
After some soul-searching, she had concluded it was because she'd never actually seen another woman touch herself.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com