Yes, it's perfectly normal. I can't speak on behalf of all girls, but I know that there are quite a few that start out that way, myself included.
When masturbating, you don't have to go farther until you're comfortable with it. If panties on is about as far as you want to go, don't worry about it.

It's not stupid.
It's very normal and good if it feels good.

I masturbated over panties for years, just recently I started doing it directly. It just felt better over panties, it still does sometimes.

You don't have to insert anything if you don't want to. You may try but center of female pleasure is clitoris (but many girls like to rub around too - lips, vaginal opening, skin between vagina and anus).

Great thing about masturbation is that you do it only for yourself and your own pleasure, so you can do whatever you want and whatever feels good.

are tou serious? it feels great to dot hat haha theres nothing wrong with you(:

Usually my foreplay is making out and rubbing steadly over the panties. When she's fully wet then I use it to apply directly without panties.

To the girl who sent me bad rep with comment "We're talking about masturbation, not foreplay", I'm sorry for disturbing your girl talk

Yes, LadyButterfly I think it's normal. Actually i'm not sure but I was about to start a thread about the same thing lol. I do it with undies on, always have. You don't have to go IN your vag to have an orgasm. Your clit is one of the most sensitive organs in your body, designed just for female pleasure

Its fine, what you do with yourself is totally up to you, dont worry about what others think because its your own pleasure and you can have fun with yourself without anybody else knowing.

There are also plenty of guides on the net if you want to learn more ways to do it, or just want to learn more about masturbation in general

There's no stupid way to masturbate. Do whatever makes you feel good. That's what it's all about.

That's normal. I do it that way sometimes too. There's no right or wrong way to masturbate. I don't always have to put something inside of me to orgasm

i'm 14 and a girl and i always go over panties unless i'm in bed or the bath enjoy it, it's AMAZING!

it's not stupid, if you're just rubbing your clit it might even feel better over your panties, esp if your clit is really sensitive