Against popular belief, women only orgasm from penetration 20% of the time, and some women hardly orgasm from it at all. I've had three girlfriends.
The first one was a virgin and afterwards she orgasmed from both oral and penatrative sex.
The second one only climaxed from oral sex.
My current girlfriend mostly orgasms from manual stimulation, but when worked up enough will climax from penetration.
To be crude, each woman gets off in a different way.
Your clitoris is like an iceberg, a small part of it pokes out at the top of your vagina, the rest of it is inside down past your bellybutton.
relax.