how to orgasm from just penetration?

Ik how to achieve an orgasm just from stimulating my clit obviously that thing is a miracle worker but i heard some women can get also climax w out rubbing it all the time and I wanna know how. Any specific positions? Like how tf can you feel fucking good w ANY position. I'm starting to think it's more of a me problem. I feel so uncomfortable with sex because I have this idea of it being amazing but most of the time I ain't feeling it.