Hi.
First of all, the majority of women don't orgasm through penetration alone, so you're not the only one Don't overthink it or get stressed - the more stressed and worried about it you are, the less likely you are to orgasm.
I'm not so sure it's down to having kids - if you feel inside your vagina, the surface will be kinda rough and ridged - this is what enables it to stretch when giving birth, and it will go back to it's normal size afterwards. Pelvic floor exercises are a good thing to do though (you can also squeeze your man's penis when he's inside you, if he likes that).
Get him to slow down, and spend more time on foreplay.
Also, remember 'CAT' (coital alignment technique). When he's inside you, get him to slide ever-so-slightly further up so that the base of his penis rubs against your clitoris when he's entering you. That way you will be getting more stimulation and you'll be more likely to come. In other positions, have him rub your clitoris, or do it yourself.
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