What are the permissible ways to expel semen? Is it permissible to place the penis between the thighs or to lie on it and move it until semen is released without touching it with the hand? If these methods are impermissible, what is the permissible method?

Any extraction of semen without conjugal enjoyment with one's wife is considered forbidden masturbation. It is not a condition for the hand to play a role in this, because the Lawgiver has commanded the safeguarding of one's private parts from all except the wife and what one's right hand possesses. The permissible way is marriage for those who are able. And whoever is unable to marry, then he must be patient and chaste, seek help through fasting, occupy his energy with what benefits him in this world and the Hereafter, and stay away from provocations.