RIDING HELPP

I'm super insecure about my body especially more now after having my first baby... but my boyfriend is ALWAYS doing the work and I want to ride him so bad but every time I do I don't feel like I'm doing it right, I can't seem to get the rhythm and he just ends up taking over and doing the work... I don't know what to do... I'm a freak and love trying new things but being insecure get in the way blahhhh (I NEVER ride, so maybe that why but HELPPP) tips??!