Not "expriemental" enough?

My boyfriend has been with two other people who were expirenced to say the least. This makes me feel really insecure because they rode him and gave him head and I can't do any that. I don't put in any work when we have sex, I mean don't get me wrong I would LOVE to but I feel pressured (by myself) to do it perfectly and I have no clue where to start or what to do. I'm already insecure as is with just his past partners because he has lied about them and I feel like he's still in love with his ex (but that's another story lol) anyways he's mentioned that he'd be okay with my taking control and to try and suck his dick but I can't get past over not knowing what to do and this pressure I put on myself. I've done all of this with the only other person I've been with but I'm scared to do it with him. Is that weird? Can I fix it? Tips? (Btw this all started when we were having sex and he moved my hand down from the back of his head to his pants and I just kinda felt on his penis because I didn't know what to do and then I moved my hand back up and he took his pants right off after I felt really embarrassed and in a sense I really don't feel "adventurers or expirenced" enough? :(