I am bisexual and my girlfriend and I are planning on having sex for the first time. We both are virgins and want to lose it to each other but don't know how and how will we know that we lost it?

Hi, I am 19 years old, and I've been with my boyfriend for about two months now. He's my first proper relationship and I was also a virgin before I had sex with him. My problem is that I am too shy to initiate sex, and I am almost at the point of tearing my hair out because I am getting so frustrated about it. I am comfortable around him, and I love having sex with him, but I just can't bring myself to touch him, every time I'm about to touch him there I stop and wonder whether he'll enjoy it.

He is way more experienced than me, and I have never stroked a guy's penis before or given them a blowjob. I just don't want him to feel nothing when I'm touching him. Is there any way I can overcome this? And could you give me some tips on how I could turn him on without feeling like an idiot?