23 year old virgin

Yep, I'm 23 and a virgin. I've had horrible experiences with sexual intimacy and have stayed far from it. Now though, I'm really curious and finally dating someone again. I know they're going to want sex eventually and I want to be able to make them happy. Though, I'm still scared. What if I'm horrible at it? What if I do it wrong? Pain I can take, humiliation not so much.