How to orgasm?

okayy! I am 16 and have an amazing boyfriend who I've been with for a year and a half now. recently, I've been trying to achieve an orgasm which I've never had before. we lost our virginities to each other last year, so we don't know much about sex and I don't know how to masturbate. I was wondering, what are some techniques that can help me get an orgasm while having sex with my boyfriend? the last time we did, he licked my clit repeatedly until I cried a little bit from the pleasure and felt like peeing a bit too. I still couldn't cum...