Do you orgasm from penetration?

I feel really self conscious.. I’m 20 and been with a boy for a few years and we have a great sex life. However the other day a friend was talking to me about her sex life saying how she orgasms with penetration and i told her I can’t and she said it wasn’t normal... I can orgasm from clit stimulation but not penetration.... now I’m scared I’m doing something wrong..? Is it normal to orgasm from penetration?

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