The comfort issue mentioned by ktspktsp could be very true. It took me a while when I started with someone new.
The advice mentioned by Johnny Rotten is also a good idea.
Now here are my two cents. Since the internet is ambiguous, I will tell you that I am a woman with many orgasms under my belt.
First things first- don't rush into things. It can take anywhere from five to fifteen minutes or more to get her to the point of climax. I suggest that you let her take the reins and do most of the work a couple of times and see what happens. This may or may not be hard for you, but hold out as long as you can.
Also, until the two of you get the hang of this, use outside influences. Vibrators used while having sex can really get things going. I have found that the easiest way to incorporate these is with the girl on her back controlling the vibrator and the man on his knees pumping away. If the idea of a vibrator in sex freaks you out, use a free hand to stimulate her clit instead.
If this doesn't sound good, try getting her to climax without penetration for a while. Fingers and tounges can do things that penises can't.
Ask her to tell you what she likes, or what she does to climax, and try to do that. Or, try to have a sex session with her telling you exactly what to do. Sometimes it is hard to come to climax with too many cooks in the kitchen. That analogy doesn't exactly fit this scenairo, but I am sure you can follow what I am saying.
In conclusion, these are some positions I used to come to orgasm with an ex who couldn't tell a clit from a lip. Most of these are girl on top. Have her straddle you while you are sitting in a chair. And try not to move. If she can come to orgasm herself, then she will be able to do it better if you let her have control. Also, an excellent way to do this is with you on your back, and her on top. This is not standard reverse missionary, because once she has you inside, she needs to close her legs so that the two of you have your legs together. You will need to support most of her weight. There isn't much in and out, but small, tight movement that leads to lots of clitoral stimulation and a sensation for the man that has been described as "being milked."
I hope that this helps. One last tip- don't keep asking her if she is almost there. It puts pressure on the situation and makes it feel like a race almost. Just relax and let her bring herself to climax.
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You don't know from fun.
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