Get in private and comfortable. Get naked and relaxed. Maybe have a glass of wine. Then you gently start to touch your own body with your fingers and hands. Trace all your curves and figure out what feels good and what doesn't. It's your body to discover.
You can use an dildo, your fingers or household objects resembling the male organ you push the objects in and out of your vagina until you climax. You can use your fingers by rubbing your clitoris repeatedly also until you orgasm.