Things Tom Likes by Kate E. Reynolds has been written about masturbation for boys with autism and related conditions.
It talks about how masturbation is a private activity, where it should and shouldn’t happen, and general hygiene. A book that you could use with children of all abilities, especially if they have trouble remembering your family rules. It does talk about ejaculation, which usually happens at around 13½ (+/- a few years).
This is a book that can be used with all children, regardless of their ability. I read this with my 9 year old son, several times and he loved it. Plus it started some great conversations about our family rules plus the fact that masturbation changes as kids go through puberty.
Things Tom Likes by Kate E. Reynolds is ideal for children from 10 years of age and older.
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You can also watch a video review below.