How do you orgasm?

I’ve only ever orgasmed with toys. Vibrators specifically. I know this is normal. I wanted to know how you ladies make yourself orgasm with just your hands? What motion do you use? I’ve tried for 30 mins with lube and I felt like I could have but I don’t have that kind of time to just explore. I have 2 kids and a husband and very little time sadly. Any tips would be appreciated.