Untested waters...

So this is pretty new to me and I'm not sure where to start.. I've recently found myself in a relationship with a great guy and he drives me crazy (in a good way). Thing is I've always been kinda scared of guys touching me or anything. My last bf I refused to even open mouth kiss him and when we would kiss I'd let my mind wander over random things until he was done. I'm 21 and never had sex. But this new guy I'm with has me wanting to push my own perceived limitations, although I'm slightly worried where that might take me. Any advice??