The Penis shaft has no nerves, but the foreskin rolling off the Penis head can be used to stimulate the nerves of the Penis head and moves only forward and backward.
The Penis head is very sensible and has a few square centimeters of skin with a high density of nerves rather small compared to the female Vagina.
On the down side of the Penis the highest density of nerves is located next on each side of the foreskin.
That was hard, right?