You don't have to tell someone to explore specific parts of their body you can just tell a child that "as people grow up they find out that certain kinds of touching feels good and some don't, everyone is different, and no one should touch you without your permission". Like it's not graphic but it's a part of sex education and can be woven into examples of nonsexual touch that's fun like using one of those "spider" shaped head massagers, or running your nails along the inside of your elbow, or giving yourself a neck massage. It's not that you are watching them self pleasure or anything it's more just letting them know that it's normal to figure out what you like and don't like when it comes to physical touch just as it's normal to figure out what you like and don't like when it comes to:

- taste

- aesthetic appreciation

- music

- style

etc. It's all a part of growing up and figuring out who you are. No need for a parent to give detailed instructions but more just tell the child that the act of exploration itself is not shameful and the rest they can figure out by themselves in private.