twerking on his penis during sex ?

Girls I need advice and help ! So whenevr it comes to the bedroom I feel like I can't pleasure my husband good enough . He's been my only sex partner throughout my whole life and when I ride him I feel like if I'm not doing it right . And I also wanna learn how to Twerk on his dick during sex if y'all could give me some ideas and help thag would be great !!