No don't use bleach! Wash head to toe with a good strong soap and hot water, and throw out any clothes/tools you were wearing when you got this. It can stay on object for a very long time.
Washing will take care of any urushiol oil left. I had poison ivy on my ****** once and it was unpleasant, but I just had to laugh every time I looked at it, because it was swelled up to like 3 times it's normal size! I should have taken pics!
Your problem will go away on its own, but see a doc if it becomes unbearable, if you have any trouble urinating or if you think it is getting infected.
You should call the doctor. It can get miserable in those areas and you likely need something with a perscription if it is all over your genitals.