Thank you guys I forgot what forum I wrote this on she is now 6 years old and still does it before she goes to bed...
My 7yr old has done this since she was in diapers. Now more then ever. It bothers me only because sometimes when people are over she will do it not thinking people can see.
I have been told by many people that its normal and not to make a big deal of it and jsut to let them know that they should do it in the privacy of their own room.
I get the grunting and all of that. Its hard to watch.
I think my daughter has very high energy and this is a way that relaxes her.
You can look in to it but is it usually not something to worry about.
If you feel that your doctor does not understand what you're trying to explain, you can video tape your daughter and show it to the doctor.
Check here for an article on child masturbation.
http://www.drspock.com/article/0,1510,3944,00.html