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Hand relief is a comedic reference to masturbation. It was popularized by Sasha Cohen, of the Borat fame, in The Ali G show. It is a literal take on how a person uses their hands to achieve orgasm during masturbation.
It is perfectly alright to seek sexual gratification through hand relief. It is actually normal and considered a healthy practice. The key is moderation and, of course, restrain. One's need to release sexual tension has to come second to basic ideals of decency. So, make sure to be in a private space or in spaces that condone such behavior, such as sex clubs. In the right place and at the right time, a hand relief can be mind-blowing!