Yes - its healthy (lowers risk of prostate cancer if you’re male I think) - and most people do it. As long is you’re not doing it all the time and its not negatively impacting other parts of your life (i.e. impacting family or partners, etc.) its good.
Some of the science behind it:
Women’s masturbation benefits:
Read this on WebMD, article on Masturbation and relationships, etc.