Can't orgasm?

I have this thing that I can't actually orgasm from anything else than rubbing my clitoris, not even licking it, just rubbing. And my boyfriend's hand isn't used to moving it like that for like 15mins so the only way I can do it is on my own through masturbation. Not to mention inserting a penis or vibrator, I feel nothing until clitoris is stimulated a certain way. Any way I could change this? It's not like I am really bothered but my boyfriend feels down that he can't make me finish and if there is something I could do, pls let me know. Update: Pose change has been tried and nothing really does the trick.