stupid/gross question

ok this is gonna sound real stupid but how do you know you're having an orgasm? like I can never tell idk if I just haven't had one or what but my underwear always has like gross stuff in it but idk if that's just vagina discharge or cum. I have a bf and he's fingered me before and didn't really know when to stop and neither did I lmao. this is sorta embarrassing I didn't have sex ed and I'm not close enough w my mom to ask her ab this soooo