I had catheter for over 21 days, this was the hardest 21 days of my life. I also had the problem of the end of my penis being rubbed raw.
I am sure my urethra is now elongated because I pee almost sideways. I kept the end of my penis well lubricated but there didn't seem to be anything that worked. I tried taping the catheter to my upper leg so that my walking didn't tug at it all the time, I tried wearing heavy pads to try to support and cushion the catheter, I tried directing the catheter up towards my navel and taping it across my stomach and then to my upper leg to try to stop the tugging, all to no avail. The only thing that worked was lying down on the lounge and resting.
I had 2 trips to emergency for catheter insertion after my biopsy because of urinary problems, the 2nd time the nurse just about made me lift off the bed with pain as she inserted the catheter. After that experience I had to go to the urology department to be taught how to insert a catheter myself ! That's fun, particularly as the instructer was a female and you have to remove your lower clothes and stand half naked over a toilet and do it while she is watching. Very embrassing.
After that nothing fusses me any more about your penis or talking about problems with incontinence or ED.
Fortunately I have only once had to consider a DIY insertion, I got as far as doing all the cleaning and preparation and rereading the instructions, I think the shock of what I was about to do was enough to open the flood gates. What a relief, in 2 ways.
It is humourous to look back on now, but at the time it wasn't.