How to reach orgasm

I have been having sex for a few years and have been with guys that knew what they were doing, but I don’t think i have ever had an orgasm. I have definitely gotten close, but the feeling of needing to pee makes me start overthinking and I guess I ruin the moment for myself lol. Is that the normal feeling when getting to an orgasm? Feeling like you need to pee? And how do I stop myself from overthinking in the moment and ruining it?😭