ANY ADVICE PLEASE!

So one of my good friends (hes a guy not that that really matters that much) invites me over to his house all the time and ive never actually went. Either I actually couldn't make it or i choose not to. Here's the deal, I always feel uncomfortable going to any house for the first time and whenever im invited over his house, he always has his other friends over at the same time whom im not friends with. So I dont know how to make it not uncomfortable when I would just show up to his house, where most people there I dont really know. But I wanna hang out with him at his house because he always asks me to but I dont really know how to make it not awkward. I also dont wanna tell him that im uncomfortable with it either because I think hell find it offensive (its how he is) so just that's off the table. thank you guys in advance!