When's the right time?

So my boyfriend and I have been dating for a few months now and we were seeing each other for a while before we started dating and the furthest we have been is basically just hook up. He's done more in past relationships and so have I but we just haven't in this relationship. He doesn't think I'm ready (since I've only been fingered, and it was only a little bit. Doesn't officially count) and he wants to make sure I'm ready before anything happens and I believe I am. I really really like him and lately we have kinda done more, like touching and feeling but not a lot, just a little bit. But when is the right time to start sexual stuff? And we never have private time. Like when he has a free I'm always busy and i never have a free.