HELP! can’t seem to orgasm...

okay so here’s the problem—

i’ll masturbate or my boyfriend with play with my clit and it’ll get super super sensitive and after a while my legs will start shaking out of control. the more i or him do it, my legs get worse and it feels like i’d orgasm soon. BUT i get so impatient because i get so sensitive to the point where it’s pretty uncomfortable and it seems like it’s taking forever. what can i do to feel more comfortable? is there a way to orgasm faster? how can i orgasm? help!! any advice what so ever would be awesome.