How Do I Get Her to Orgasm with Me?

During intercourse, it is the outer third of the vagina that is most stimulated. Some women are able to orgasm through this vaginal penetration. That is, vaginal orgasm — without clitoral stimulation.
However research has shown that (Shere Hite’s 1976 survey of 3,000 women) only 30% of women can achieve orgasm through intercourse. The clitoris, with 8,000 nerve endings, is more sensitive than the vagina. For a woman’s orgasm, her body’s response is the same whether or not stimulation originates from the clitoris or the vagina. As such a clitoral orgasm rather than a vaginal orgasm is more likely.
In the large majority of women the position for intercourse and the way in which the clitoris is being stimulated through intercourse is not conducive to orgasm and there is no way that intercourse alone can produce an orgasm. As such rather than being fixated on penile vaginal orgasm, acknowledge that there are different types of orgasms. It sounds that both of could benefit from seeking out the services of a clinical sexologist.