In my experience, a lop-sided penis doesn't have any influence on sex - the vagina sort of directs it in the right way - there aren't that many options in there really....
What I found work best for me for g0point stimulation is (how boring...) the missionary position.
You should know however that there are several types of female orgasms and the G-point is just one of them, some women don't like the G-point stimuli at all, and some can have an orgasm from penetration when the shallow inner part of the vagina is being touched for me the best way to get this orgasm is missionary position with my legs closed.
It's very different from one woman to another and everybody likes things different - so I guess experimenting is the way ot get it right, especially with a new lover.
Studies showed that just about 30% of women have an orgasm in penetration, so again - the best thing to do with a new lover is experiment, and of course, ask.