Sex Education

This is kinda embarsassing but I can barely remember when i was little i used to masturbate with a pillow.. That time im still uneducated.. I dont know what sex is i dont know how theyre doing it.. Idk what a penis looks like or how come a vagina has a hole.. All i know is theyre on top of each other.. Idk when did I learn to do it maybe I saw my parents one night.. Any thoughts?