To needle is to perform the act of sticking a needle down your own penis. Men do this for pleasure. Some men using utensils other than needles, ranging from paperclips, to knives, to even toothpicks. Toothpicks are not advised however, because some splinters can break off inside the urethra and cause intense pain.
Cleff:"Hey, do you wanna have a Needle Circle today?"
Jebediah:"Hell yeah! I got this new bomb ass needling pencil I wanna try out!"