Advice?

Does anyone have advice, ideas, or tips on how I can get over my fear of having sexual intercourse? I’ve been afraid of the idea for years, probably why I didn’t lose my virginity till this year (age 20). I didn’t even want to lose it, which is why it caused me so much pain I think. I just want to be able to experience what you all feel. I want to be able to actually have sex with my bf. Help?