how to initiate when your shy

i am quite shy and its always my boyfriend who initiates having sex by making out with me and then touching me etc. i would like for him to feel wanted and initiate too, because i do like him a lot, but when it comes to that moment i am simply scared and my hands are kinda shaking if i try to rub him through his pants, it would assume its a confidence issue but i dont know because i feel comfortable around him mostly. i just never seem to get myself to suck his dick or just me being the one to start undressing him... he has not said anything about it but i would like to gain some strenght and confidence in it. any of you have any tips on how to initiate sex or foreplay so that gradually maybe i become less shy. thank you