A primary care physician - a family practicioner or internal medicine physicin in the United States - would be a good start.
The first thing I would exclude would be infections. STDs such as gonorrhea or chlamydia, or bacterial urethritis can present with tingling sensations. Prostatitis is always a possibility if the obvious infections have been ruled out.
If these tests are negative, you may want to consider dermatitis or an anatomical abnormality. This may require a referral to a dermatologist or urologist for further evaluation. An anatomical abnormality (i.e. urethral stricture) can be evaluated with a cystoscopy.
Followup with your personal physician is essential.
This answer is not intended as and does not substitute for medical advice - the information presented is for patient education only. Please see your personal physician for further evaluation of your individual case.
Thanks,
Kevin, M.D.