Thanks for your query,based on the facts that you have posted it appears that you have trying for baby since 6 years after your marriage.
It is difficult to make precise comments in absence of detail reports specifically semen analysis
As regards your problem in penetration during sex it is likely to be due to inadequate hard erection .Please consult qualified Urologist
for assessment and further treatment.
Taking medicines like Sildenafil
(Viagra) will help to get good hard sustainable erection for penetration.
Following measure will help you to boost up your confidence and getting good erection.and improve sperm count
to some extent.
1) Practice regular exercise for 45 minutes followed by meditation
for 1/2 an hour in the morning.
2) Take high protein diet rich in vegetables and fruits and Vitamin A,C,D,E.and Zinc
3)Take anti oxidants like Almonds 5-6 everyday..
4) Avoid alcohol and smoking..