I was driving home from work at around 2:30am and as I passed a side street I see 2 guys on it. I quickly did a U-turn and drove towards and down the street I just passed to see if I really saw what I saw. One of the guys was naked except for his shoes. I was still a distance away from them and my headlights were right on them. The naked guy was making some gestures and began to do a sexual act towards me. His clothed friend tried to pull him away to have them get away but he didn't move. I watched for a bit before I got out of my car to get a better look. The clothed guy tried harder to get his naked friend to leave but wasn't successful. I had left my iPhone on my dash recording everything they were doing. While outside my car I noticed no one was around except them and got the urge to do the same. I began undressing throwing my clothes into my car. Once naked, I walked away from my car with my headlights hitting me making it easy for them to see me this way. The naked guy came closer and soon the two of us were beside each other naked jerking off together. The clothed guy was still in the distance watching us do this act in public. We didn't stop until we were cumming together. Once done the naked guy quickly ran away and both him and his friend disappeared. I jumped into my car and only put my shirt on and drove home that way. Once home I got dressed in my garage and went in. I realized I maybe shouldn't have done what I did but it happened. I did however have it all on video on my iPhone. I am not gay but do get aroused watching the video of me and him masturbating together.