Rubbing as masturbation??

I’m 18 now but at a very young age I started to rub my clit on pillows and that’s how I’ve “cummed” ever since. I started having sex 9 months ago and never cum during sex but I’ll cum when I rub on a pillow. Has ANYONE else done this? And if so how did you stop and how did you start cumming during sex?

(I feel really isolated and ashamed that this is how I masturbate I’ve googled and know it’s normal in young girls but it’s still super embarrassing for me and I’m looking for support!)