There are two significantly different issues; not being to orgasm from penetration and not being able to orgasm at all from any sexual contact with people other than yourself. The former could simply just be an issue of sensitivity, wiring, or not having found your personal spots yet. The latter is a psychological issue.

For the former I advise hunting for information on common sensitive areas, talk about how clear you are on feedback, kegel exercises, and spend some quality time with a dildo or your fingers to see if you can find your personal hot spots. Keep in mind that your spots are likely to be surprisingly shallow (within the first few inches).

For the latter your best bet is probably going to be to go through the associative learning process so you learn to connect certain kinds of contact (or some other trigger) with orgasm. This won't be an overnight process, however with someone with some idea of what they are doing and regular frequent sessions, it probably won't take too long. This can also yield success on the former issue, though it will probably take a lot more effort to get the same result.