You are not along - many men experience this, and unfortunately there is no easy solution. As Yardbull has said above, foreplay is essential to you having orgasm. Female orgasm is frequently only achieved with manual stimulation. It takes years of practice with your partner to get good at satisfying each other - be patient, lots of foreplay, it will work out!!
Not a medical solution and perhaps just mentioning the obvious, but you both could try either hand stimulation of each other or oral methods, depending upon your mutual preferences. Going the oral route, the 69-position would allow for a simultaneous oral outlet.