Pillow talk

Idk if this is weird or not but when I masturbate I use a body pillow and put it between my legs and hump it so it grinds against my vagina (clit mostly). It’s the only way that I know I can orgasm and it can happen multiple times in one session. How can I use this knowledge of how my body works in having an orgasm with my boyfriend? We have tried everything and I have never orgasmed with him. Thank you!