Had it from the start isn't exactly true but "yes, but I know how to work it now!" is pretty far off. I knew what I was doing when we started getting physical. Every woman is different though so what I did with previous partners didn't work as well for her. So I tried a few different things that first time and eventually found what it takes to make her rock n roll n thrust n cum.
I think the key is to know a little, talk a little more, and then pay attention when you're in the moment to see what she responds to.