how to turn a guy on?

I’ve been hanging with a guy a lot recently and I want to take things further. I think he wants to too, we’ve kind of talked about things like this, but we’re both super shy lol. When we were cuddling he totally had a hard on and I want to... you know. We’re both teenagers by the way, if that makes a difference. How do I initiate something??

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edit: we’re both 17, which is the age of consent in my state. we legal lmao