Help! SO can't get me to orgasm!

We've been married for 5 years and I've never had an orgasm during sex. The only way I can make it happen is grinding against one of our wrists. It's pretty unsexy. I grew up in a very conservative/religious home so touching myself was a no no so even when my husband tries with his fingers, I don't even know how to guide him. Any ideas? Books? Anything?