Sounds like you need to focus on weights for what you want to achieve. I personally prefer the big barbell excercises and have found Stronglifts extremely effective in the past. However, if you have good reasons to avoid those lifts, there are plenty of ways to do it and I’m sure a good personal trainer could help you. If you don’t mind looking like a complete tit, I find kettlebells are a decent way to get a fairly effective all round workout without risking injury.
I can totally relate to the feeling skinny but having certain areas you want to firm up. I’m also tall, and body weight work outs are hard for me too. I think you can rest assured this is entirely normal, though. To have the body of a professional athlete, in your 30s, working full time, requires a level of dedication it would be unfair to expect from oneself. Personally, I can’t see how I could even spend three nights a week in the gym right now.