I am terrible at penetration

Hi! I need help, hehe. So turns out I’m a terrible when it comes to penetration. Every time I try to penetrate my boyfriend I end up laying there for 20 minutes without making him come. He gives me instructions, but even then I can’t seem to succeed. He makes me come every time but I never... It has come to that point where it’s embarrassing. What should I do? Any tips? Thank you!