31 and don't know how to ride cock. Help?!‽!

So I discovered I'm really bad when it comes to sex. Don't get me wrong, my man can get me where I need to be and im satisfied. I just guess I feel bad that he does about 90% of the work. Anyone help! I tried to ride his cock last night and I swear not even 2 mins later I got frustrated and he had me lay down on the bed and he went to it. I'm so embarrassed. I feel like I should know how to by now. I'm super inexperienced I guess. He's the 2nd guy I ever had sex with. Please give me some tips or advice.