Orgasm problems

I am able to orgasm with my fingers by myself alone, but any time anyone else tries in any way, it doesn't work. I squirm relentlessly and eventually like can't take it. It doesn't feel bad, it's a good feeling, but I don't know how to control myself and fix this. I feel broken and my boyfriend is so hard on himself when he tries. Any ideas? Thoughts? Experiences? Thank you!

Update: We did it! it took my boyfriend being determined and laying me across him. I told him everything that felt good, how fast to go, which fingers to use, etc. and helped him adjust as we went. It finally happened and you should have seen the dopey smile across his face. I was extremely overjoyed that it happened.