Hi,
Welcome to healthcare magic Physician's desk!
Your penis and bed rubbing thing is not responsible for your problem.
You have pre-mature ejaculation and it will be get better with time.
When you penetrate do not be over pressurized to perform, try to deviate your thought away from the sensation of sex, eg. you can recall what did you have for breakfast today, it will decrease the felt intensity and will keep you filled.
You can decrease the intensity of local sensation by a light application of
Xylocaine jelly, keep it for one minute then wipe it and take on.
Your wife can help by distracting your attention at that time by talking something else than sweet nonsense.
You should avoid vigorous buffeting.
I think the advise would be helpful for you.
If you still have queries if any, please feel free to communicate back.
Wish you a great heath.