'autoerotism' originates from Greek, specifically the elements 'autos' meaning 'self' and 'eros' meaning 'love' or 'sexual desire', combined in English with the suffix '-ism' to denote a condition or practice.

'autoerotism' developed in English by combining the adjective 'autoerotic' (formed from Greek elements) with the noun-forming suffix '-ism' in the late 19th to early 20th century, yielding the noun 'autoerotism'.

Initially it referred broadly to sexual feeling or desire directed at oneself; over time it has been used more specifically to denote self-stimulation or solitary sexual gratification (including masturbation and autoerotic behavior).