the best way to have sex is to skip foreplay, and start fucking PiV, from the get-go. Very passionately, frenetically, and desperately. You should both be so turned on beforehand, that no foreplay is necessary; and so ravenous, that you couldn't hold yourself back from fucking, in order to do the foreplay.

However, for size, stamina, and skill reasons; most guys can't make a girl cum through PiV alone. It's good etiquette to make her cum via cunnilingus first, and then fuck her PiV after that. This way, when you only last 2 minutes at most, at least she will already have cum from your tongue.

The synchronized mutual orgasm is ideal, but elusive. It's more realistic to take turns giving each other orgasms. Because the male has a longer refractory period, and is likely to lose libido after cumming, you should aim for him to cum second.