orgasm help?

I feel awkward and  embarrassed to say that I've been with my guy for a while now and I'm still unable to cum. The sex is great and lengthy, but I really want to be able to achieve orgasm for both myself and him, being that it is something that he works for as well. I'm very aware that most women are unable to cum only with insertion. I'm able to do so on my own (usually watching porn and I'm worried that the issue.). But I feel like this is becoming the only way I can actually get off. Is there anything that I can do , or any tips that could get my partner and I to that point?