Take too long...

I'm 20, my bf is 30, but when we have sex he cums in like 30 seconds and I take way too long. Like takes me 20 mins. 
I've never came from sex.. Only foreplay, because he doesn't last long. 
He's very very sensitive and he hates himself for it so he doesn't like having sex because he can't last long. I love him to bits and our relationship means more to me than that. But do you guys have any advice I could try to speed me up and slow him down???