How did you know you were ready for sex?

I’ve gotten very comfortable with my body and sharing it with guys within the past year, but I have yet to go all the way due to my lack of being able to orgasm on my own. I have two potential guys who are very interested and I want to try it but I don’t know if I should wait till I’m more aware of my body or can we learn that together, especially if they would be hookups?