'autoerotically' originates from modern English formation of the adjective 'autoerotic' plus the adverbial suffix '-ally'. 'Autoerotic' itself is built from the combining form 'auto-' (from Greek 'autos', meaning 'self') and 'erotic' (from Greek 'eros', meaning 'desire' or 'love').

'autoerotic' developed in English in the late 19th to early 20th century (often in medical and psychological contexts) from New Latin and French-influenced formations of 'auto-' + 'eroticus', which ultimately trace back to Greek 'autos' and 'eros'. The adverb 'autoerotically' is the adjectival base 'autoerotic' with the Late Latin/French-derived English adverbial suffix '-ally'.

Initially, formations with 'auto-' + 'erotic' conveyed the idea of 'self-directed desire' or 'self-love' in clinical descriptions; over time the term has come to be used more specifically for sexual arousal or gratification produced by one's own stimulation, and 'autoerotically' describes actions or experiences that occur in that self-stimulating sexual context.