Is there a way to learn how to orgasm or does it just have to happen by chance?

I can have clitoral ones, but nothing else. I think I've come close to a vaginal one, but I was sitting on the edge of my tub and my legs got too shaky and I felt light headed and like I was going to fall over so I stopped.

Most of the time, I get these waves from penetration. I don't know if they're orgasms or not. They can be gentle to intense and I can even feel it in my gums sometimes. I'll be using a toy and the waves start. I squeeze on my toy then push down involuntarily. This happens a bunch of times until I get tired. I don't know what these wave things are, but I like them!

Penetration feels amazing. Better than rubbing my clit. So why can't I orgasm from it? I just want to know if I can learn how to have one or if I just need to work with what I have.