how to get him in?

Kait
Could use some tips on how to better get my husband inside me when we have sex. So far we've only ever tried missionary and cowgirl. Haven't been having sex very long. But pretty much every time we struggle for a good 10 seconds at least (a long time in this high stakes situation! :P) with him getting into me. This is mostly missionary as it's our go-to. It's like we can't get the angle right? He'll get in partway and then push and then it's like I feel him curve alongside me slightly and then pop out so he's just pushed up against me, penis pointing downwards. Or sometimes he'll aim too low and then push (he doesn't do this as much anymore; he waits to push because he was splitting me right under my opening). We're both a little confused why we haven't gotten this better by now. Lube is not the issue; I make PLENTY of my own. Maybe we need to spread it around the lips first though? Has anyone else had trouble with this? Any advice would be appreciated!