Kama Sutra could be fund, also Tantra is great, but those things are learned thru a workshop or a retreat as a couple so don't expect magical sex after reading a book.
Also physical ability to have sex for hours has very little to do with position or technique, and more about knowing your personal ability and limits and what turns you on and being attracted to a woman you are with. Second if your woman wants you to rock her for hours on end then she needs to contribute. Tell her what you like her to do, let her improve on the said thing over time, and when she gets good at it I promise you won't think twice about not being able to perform.
Like others said it's not about penetration, it's the whole package from beginning to the end, sex games, oral, fingering and regular sex, are mainstream and work really well to prolong the experience.
From my experience if I am not that attracted to the girl, I'll have sex with her for an hour or so, let her cum, then will take my turn, then leave her alone. However if the girl is hot and she is able to play along with me and please me in the ways that I like, then I'll spend a weekend in bed with her, and call her up the next week.
So to sum up, after your first orgasm tell your GF how to blow you good, then see if you are ready for a second round