husband not good at sex

My husband has never made me orgasm. When he touches me, it feels awkward. Like it's too soft, or too hard, too slow, too fast, etc. 
today we tried to have sex because I'm ovulating and he pushed it against my thigh which really hurt and he told me he thought it was in.. what? That kinda killed the mood. We didn't fight or anything but he does that a lot where he tells me he thinks it's in but it's not. 
I hate to say it but overall he's just not good and I have tried to teach him.. it doesn't work. I'm not going to leave him over it. 
It just sucks 😩 
We have a horrible sex life and it's like he's not capable of learning. Please tell me I'm not the only one😩 I mean who the fuck mistakes a leg for a vagina😂😩😩