Erectile Dysfunction is one very common problem in majority of males and it is due to the insufficient / irregular supply of blood to the Penis during intercourse. If during intercourse, a male experiences lack of erection / incomplete erection, then penis will not be able to enter into vagina and it can lead to a state of embarrassment. Majority of males suffer from this and the root cause of Erectile Dysfunction is over masturbation in teenage phase of one's life. A loose or semi erect penis can not penetrate upto G Spot in Vaginal canal and thus a female cant feel the Orgasm. Your condition is easily treatable with Ayurvedic treatment
Next Steps
Consult a good Ayurvedic Sexologist asap.