Welcome to HealthcareMagic
Even slightest penetration of penis in vagina and deposition of semen is sufficient to cause pregnancy
. You can try other positions of intercourse for better results. You and your wife need to be evaluated for the cause of infertility
. As you mentioned about semen analysis
..count is normal ( it should be > 20 millions/ml) but motility is less( It should be >50% sperms with forward movement). Post complete semen analysis report. Get your semen analysis repeated after 3-7 days of abstinence. Also get semen culture done. With treatment with vitamins
there are high chances that semen parameters will improve. Take care.