Suggest Remedy For Infection Which Has Discolored The Penis

When I was 5 years younger I was experimenting masturbating with soap. Once I left it on without cleaning it off. After I felt a burning sensation. Turns out the soap killed my skin and when it was dead I pealed it off by hand. The skin is discolored from what it was. My shaft is now dark brown and red, and my head and balls are red, you can now see all the pores on my balls. I never went to a dermatologist or anything because I'd be too embarrassed. Will the skin ever heal or will my genitals always be discolored and just not healed?