Lap Dance Confidence...

Ladies help me out... So my boyfriend is staying over this weekend while my family is out of state and... I think I wanna try giving him a lapdance. We've been dating for almost 6 years now... the only reason why I haven't is because my self esteem is shit. Like when I say I cringe at the way I think my body is gonna look rubbing against his, I cringe. I just feel like I'm gonna be embarrassed and look SUPER stupid... I'm just not confident, no matter how hard he tries, and he really does try the best he can... I just really wanna do this for him and I can't muster up the confidence... So I need, from you ladies, some quick confidence boosters and ways to practice!! I have a long ways mirror, if that helps.