A catheter insertion aid may comprise: an insertion tip located at a proximal end of the insertion aid; a flexible bag; a self-sealing mating mechanism on the proximal end of the insertion aid; and a physical interface that helps a user hold and support the insertion aid against the body when inserting the catheter tube into the male or female urethral tract. The catheter insertion aid may mate with a urinary intermittent catheter with a catheter tube to be inserted into a male or female urethral tract to facilitate drainage of urine from a bladder into a receptacle. The flexible bag may surround the catheter tube with a first collar connection mechanism connecting to the insertion aid and a second collar connection mechanism connecting to a catheter funnel. The self-sealing mating mechanism may mate with the catheter funnel to create a hermetic seal that is substantially air- and water-tight. The catheter insertion aid may further comprise a lubrication reservoir that holds a lubricant to coat a thin layer of the lubricant on the catheter tube facilitating insertion of the catheter tube into the male or female urethral tract.