How do you properly rub yourself?

Hey ladies. So Ive never orgasmed in my life and I’ve heard that it’s not common to get off on just vaginal penetration and that you need clitoral stimulation. I’ve tried rubbing myself during intercourse but it never feels good and my clit tends to dry out to the point it’s just friction and it doesn’t feel good. Am I doing something wrong or what can I do to help myself finish?