Loss of sensitivity Penis???

Hi I am a 22 year old male, who has been circumcised since birth. I have recently encountered my first sexual experience, and I didn't feel anything. It just didn't feel anything special, I am really worried i may have killed all my sensitivity in the penis. I have been a frequent masturbater since age 14, and would not masturbate in the conventional way, but by rubbing my penis against a bed, in order to ejaculate. I have no problems getting an erection, and do feel really arosued just during sex I just don't seem to feel anything, can this be overcome? and if so how?