My routine is quite consistent, but like they say, if it ain't busted, don't fix it.
I normally exercise first thing in the morning and again just before bed. If I have the time and am not having sex that day, I often have a session in the afternoon. I enjoy lying down on the couch or in bed completely naked. I like porn and erotica (hint: reddit is an unanticipated goldmine for both, lol), and I start out subtly by rubbing my bare feet together, playing with my nipples.

I start rubbing with one hand while toying with my nipples with the other when I'm completely drenched. I slowly begin to taste myself, pausing every few minutes, until I finally cum.
I don't always do it that way; occasionally, when the mood strikes, I'll strip off and rub my nipples while humping a pillow.