Too shy!!!

Ive started to hook up with an old flame, i saw him 'alone' for the first time the other week after nearly 2 years, we slept together! 
I went to his place last night and i was stupidly shy! He was rubbing/stroaking me all over as i just finished a night shift at work, and he had a little play at the same time. And he asked me to play with him, but i couldnt!!! I was just shy! I ended up staying the night and we didnt have sex and just fell asleep. He woke me up at 4am and we had sex then again at 6am. 
I feel so stupid and embarassed! Im nearly 27 why tf could i not touch his penis? Is it bcause i like him or have feelings for him? Can anyone give me some advice to change this for when i next see him? Tia 👍🏻

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