5 y-o girl giving herself sexual pleasure

Hello,
Since the age of 2.5 our now 5 y-o daughter has been enjoying some sort of "sexual" pleasure by rubbing her legs against hard surfaces or pulling her underwear. We were told that she would eventually stop it, but it has now been going on for more than 2 years. We see her doing it about twice a week, but she may be doing it more often when not seen as she knows that it does not please us.
Any advice on how we should handle the problem?
Thank you in advance.

[margypops]

As long as its in private best let it alone and do nothing if she could have learned it anywhere maybe a good idea to speak to the doctor .I guess you will have to tell her she cannot do it outside or at school .