Sticking one's finger in one's eye is definitely not a natural thing to do, so it'll take you a little while to get used to inserting your contact lenses!
You can and will get the hang of it, though, so don't fret. It just takes getting used to.
I can't stand putting the lens directly on my cornea, so I pull down my lower eyelid, look up, then put the lens on the white part of my eye under the cornea. It slides into place easily and after a few blinks it will settle nicely where its supposed to be. I hope this helps a bit!
Best of luck!