Orgasm through penetration?

I've just recently become sexually active, and while penetration feels amazing for me, I can never get myself to come during sex. I've gotten really close with a dilator inside me, but I felt like I couldnt contract enough to have the orgasm while something was inside of me. I don't mind not being able to orgasm during sex, but I feel like it'd be really different than normal orgasms (and I do try to rub my clit during sex but it rarely helps) so what do I do to get myself there??