When I get done urinating, no matter how many times I shake my penis, I pee on myself when I put it back into my pants. I have to wrap it up in toilet paper to keep from soiling myself. It is just a little "blurp," but enough to be uncomfortable, embarrassed, & annoyed. I am 30 years old & am in excellent health.
It could also be the result of a urethral stricture, which I like a small kink in the tube that runs from your bladder through your penis. Sctrictures can cause urine retention and the kind of leakage you describe.
If you ever have a weak or split stream or have been prone to utis in the past that could be an indicator of a stricture. If you suspect that it is a stricture, get your primary care physician to refer you to a urologist. They have several tests that can give them a better idea of what it going on.