I had a girlfriend, Vicky, who was on and off for several years starting in Junior high and all through high school. We both dated other people and we each had “serious” relationships with other people. Whenever we were both unattached at the same time, we’d sort of pick up where we left off. Today, we would probably be called “friends with benefits”.
We both lived with our respective families and had no privacy, so most “dates” with Vicky culminated with orgasms in my car one way or another.
One night, we were parked 1/4 mile from the main road down some abandoned railroad tracks. My fingers were probing inside her vagina while we cuddled, kissed, and generally petted. Believe it or not, neither of us had ever heard of a clitoris back then – blame USA sex education. Anyway, she was humping the heel of my hand because that’s what felt good to her, and I was inserting fingers because that’s what I thought felt good to her.