cant orgasm

I'm in my mid 20s and ever since i found out what masterbating was ive only been able to orgasm one way; dry humping! It seems like when i try to do anything penetrative, even sex with my bf, i don't even get close, and direct contact with my clit does not feel good it just feels over sensitive and i just twitch a lot.... any help?? things i can do to help orgasm during sex?