Orgasm from penetration

Does anyone else have weird body spasms in a certain position? When we do doggy or prone bone at a specific angle, it's hard to handle. It's very intense feeling, my body goes crazy and sometimes I feel like I have to pee. Is that what it's like leading up to an orgasm? I orgasm a lot, but not from penetration. I feel like if that was, it would be to intense to orgasm from. If Im on the right path, how could I actually orgasm from penetration?