How do I jerk off normally?

I 18m want to get off like a normal person by rubbing it with my hands and be finished fast, I have a problem because I've been getting off by rubbing it on the floor while laying down. I wanna get off like a normal person because I've had partners in sex where I wouldn't be able to cum even after 2 hours because I don't get off normally, please help me I want to be normal.