Touching a body part, including those in the genital area, for fun or pleasure is called masturbation. And, yes, touching your body parts is okay. Masturbation is a healthy form of self exploration people choose to do in private. Masturbation can be a concern, though, if it interrupts your daily activities, makes your genitals sore, or if you choose to do this in front of others without them wanting you to.
Having a sexual relationship requires much responsibility and maturity. This includes having effective communication skills, making smart decisions, making sure a person provides consent and is able to do so. Just because your genitals are maturing and becoming more adult-like, does not mean you need to use your body parts for sex.