I have what I call a kindergarten approach to this stitch. I do it this way all the time, but am not necessarily suggesting you follow my example. :lol: But it may also serve to help you learn where you put the needle.
With the yarn in front for purling I turn the work so that the back side is showing, then I insert the needle into the two stitches from right to left on that side, then I turn back to the front and finish the stitch.
Maybe that will be of some use. If not I’m not offended at all. Hope you figure out a way that works well for you.