orgasm tips

y’all have probably heard this a dozen times at least, but i can orgasm when i’m by myself, but not with another person. i’ve tried a lot of things (positions, oral etc) with my boyfriend, and things definitely feel good for a lot of the time, but i’ve never been able to get all the way there. another issue is that a lot of times, i feel like i need to pee during penetration. do you guys have any tips or stories on how you got all the way there?