How is sex without a condom?

Summer
I got the birth control implant in my arm a couple months ago and I've never had sec without a condom. My boyfriend and I are both free for STD's and have been together for 8 months. I really want to try sex without a condom...I want to experience it so bad but I'm still scared of getting pregnant. When would be a good time to try it? He'll still pull out. Someone help I really need advice from women who've experienced it. 

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