Your are correct, the mass is on the testicle itself the the skin of the scrotum. It is not a bad idea for men less than age of say 30 to palpate their testicles looking for masses. Testicular cancer is a young mans cancer. You are just fine.
Testicular cancer only occurs on the actual testicle itself. In early detection, you feel for a a lump in one testis. The testicle should normally feel smooth to the touch.