Dude it's seriously not anywhere near as complicated as the world makes it seem. For one, try the stop and go method. That's when you jerk to the point of orgasm and stop right before you get there. Do it as many times as you can and then finally release. The first couple of times you'll probably only get to two or three, if that. Try for say, six.
Also, look for Kegals on google.
You could also work that stop and go method into yours and your girls sex. Whenever you feel like it's time, just pull out and start eating or doing something else. then when you've done enough of that, go back to what you were doing before.
(By the way, hi everyone! -goes to make introduction post-)