Learn where the clitoris is. A good chunk of women, perhaps the majority, do not orgasm from penetration alone. Clitoral stimulation is what you are looking for.

The other part is communication. “Do you like that/does that feel good?” Start with circular motions. Some don’t like direct stimulation on the clit more in the area around. Everyone’s body is different, and something that drives one person wild might be uncomfortable and annoying for someone else.