Can’t seem to O with my bf

So I’m 24F, I’ve been with my boyfriend (29M) for over 2 years and everything is great! I will say tho that I’ve never finished with with him before. (he’s my first V, ive just done some other sexual stuff with 1 other guy for a short 2 months but no sex) I typically dont really care because i just feel like it wont happen like my body wont let it happen so its whatever. But im curious if theres anything i could try doing to maybe help it happen. Ive squirted like twice before with him but thats bout it. I feel like ive gotten really close to finishing while being on top of him but just never actually did idky or i think there was 1 time i felt like i kinda finished ontop but i didnt have that pulsing sensation like i typically do when im alone (I also rarely masterbate alone tho) im not sure.