I've Never Masturbated Before and Am Ticklish During Sex. It's Hard To Stay Erect and Penetrate a Vagina?

I'm 22 years old, in college, and I have never ever masturbated in my entire life. I'm a heterosexual man with no dysfunctions and I LOVE women and the idea of sex but as I was growing up masturbating was just something I didn't get into. Never had an interest in it. The thought of it never really felt natural to me and by the time I was old enough to know that almost ever man in the world does it, it just didn't appeal to me. Now that I look back I'm proud to be this old and not have to depend on something such as masturbation and to accomplish such an achievement but at the same time, now I have questions. Since I never masturbated, me and my penis seemed like strangers until I graduated highschool. Never really touched it for no reason or paid much intention to it except when I had to or when it was required. It wasn't until after highschool that I became very sexually active and realized that intercourse for me is an issue now and I'm not sure if its because I've never masturbated or not. I love women, all women and can almost get fully erect just by the sensual touch of them but I have a "funny bone" or spot right on my entire pelvic area that makes me extremely tickolous when women start to touch it. Makes it hard for me to not move and not resist. Week after week I try intercourse but when you're ticklish right there and you're getting all squirmish and laughing the whole time during sex its kind of hard to stay fully erect and penetrate a woman's vagina. Most of the women enjoy it at first because women like to be in control of the sex and the idea of chasing a grown man or a boy around the bed and having that power over him excites them. All the events leading up to it go GREAT as usual and anticipated and the foreplay is absolutely amazing from providing her with oral pleasure to teasing her but as soon as the woman's hands gets close things start to go downhill. I tried to take the upperhand in the intercourse once so her hands wouldn't have to get close to see if maybe that would change the outcome but I still found minor trouble penetrating because even when I'm fully erect my penis does not rise or stand straight or shoot up in the air (which is especially a problem when the woman is on top). It may partially lift up a few centimeters but it basically just fills up with blood and semen like a normal penis should when erect and hangs there heavy as ever like an over-sized banana so my tip gets into this perfectly lubricated vagina but my the rest does not. It starts to bend. The only way for me to release now is by going to the bathroom to pee/urinate every 5 minutes after getting erect or through wet dreams when I'm asleep which wouldn't be so bad if I wasn't a grown man already with beautiful women on speed dial. The only time I ejaculate is in my sleep. No this is not a joke, yes I am %100 serious, and yes I do want some truthful input on the matter. Thank God for internet where you can find answers for anything or at least people with similar problems. Any comments, testomonies, criticisms, or helpful advice?