How to kiss him without feeling embarrassed

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Hey everyone

I am 23 years old and have been with this guy for 4 months now and I got my first kiss 3 days ago(yup, i know it was late.lol) but it is the first time for both of us and we both feel so embarrassed that the kisses only last for like 1 sec.

I really want them to get more romantic(and last longer) because we have a great relationship and really care about each other

So, do you have any tips on what I/we should do?