How to masturbate

I have trouble getting off on my own. Well, not like, properly. I have a boyfriend and he’s gotten me to orgasm by fingering, but I’ve never been able to get myself off properly. When I was fairly young I found that like holding my legs a certain way would stimulate something down there and after doing that for a period of time I would experience an orgasm. Everytime I go about touching my clit with my hand, it doesn’t feel good? Not that it feels bad but it doesn’t feel good in a sexual way? How would I go about learning to masturbate that way?