How to touch a dick😅

Okay so this is gonna sound so dumb, but I'm so inexperienced in comparison to my boyfriend (he's the first guy I've been sexually active with) and as embarrassing as this is I seriously never know what to do with his dick. Like when we're just sitting on the couch (clothed) how should I touch/rub it? Or how about when we're naked (I don't mean a handjob), should I just glide my hand up and down on it or what? Please don't make fun of me I know this all sounds so dumb 😂