Foreplay
That's all you need.
Attention to detail, she has to want to come first. We all have walls and sexual hang-ups, you have to surmount these first(pardon the expression) Just listening to her(and not sticking your cock in at the first chance) helps.
Tease
Sometimes a light touch is all that's needed, trace fire with your fingertips and tongue. Stay away from the obvious lady-bits. Go for the neck, ears, spine, backs of knee, crook of elbow-wherever. Look for reaction, listen to her breathing. Make her want too.........
Make her laugh(usually needed to get there in the first place)
Work as many bits as possible-finger in,thumb on and nipple in mouth(hint-keep your ear to her heartbeat-play a tune..)
I'll skip the finer points of clitoral and vaginal stimulation-feel your own way.
Bring her to the point of orgasm-and stop.
Repeat as often as you dare.
The more times you do this, the harder she will come- but beware: Too much faffing about and you will miss her. Hell hath no fury like a woman brought to point of orgasm and not allowed to cum.
...........Now you can start thinking about intercourse