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Many women do not orgasm by penetration and only through clitoral stimulation.
If that is something that you've experienced, you could ask your partner to provide the stimulation as a form of fore play. Your boyfriend has to understand women's physiology and not blame you for not making him feel right. The way the clitoris is stimulated is very difficult during coitus. He may try to aslo masage/stimulate your clitoris during penetration (the two of you will just have to try and see what feels comfortable and good to you)
Some things that women had tried are kegel exercises of tightening the muscles and doing so may lead to intra vaginal orgasm (and if it does not, it is nothing to blame anyone for)
Kagel is supposed to help even with the urination issue. If you do the exercise, you would feel a slight tightening sensation on the inner lining of the vagina. That is supposed to help later on while you are having vaginal intercourse and if you do that tightening motion it can evoke an orgasm. There are no pills that can lead to orgasm. If you believe that vaginal orgasm is not happening due to emotional issues, working with a sex therapist can help.