How to orgasm from penetration??

So my boyfriend and I have been having sex for a while and I'm just starting to get to the point where it doesn't hurt anymore (since I lost my virginity to him) and now I'm starting to explore how to reach a vaginal orgasm. When I'm on my own, I am easily able to reach clitoral orgasm, I just haven't been able to reach vaginal orgasm with him because I just don't know what it's supposed to feel like. When we're going hard and fast, I start to feel like I need to pee but the feeling is just so intense we have to slow down a little bit. Do I just need to push past that feeling to orgasm? Comments appreciated!!