Try vaseline

i would say that you should try a gentle unscented moisturizing cream with vitamin e. there are many available for sensitive skin and are fairly affordable. however i would say that if it is an ongoing problem that you should go and see a dermatologist and see if they may know of a better treatment or if there is a worse problem. if you try lotion and the problem doesnt get better or if it gets worse or any pain/burning/discomfort is caused discontinue use. also you could try using a softer soap in the shower that may also help.

the close contact with underwear produce this, with boxer the penis have more space and do not rub against anything. I always advise to all guys to wear boxers.