Sexless marriage

My hubs and I are in our 20s and have been in a near sexless marriage for nearly 5 years now. He's a great guy, but the lack of affection really gets to me, we only have sex a few times a year and when I try to initiate more than that I get rejected with an excuse, so I quit trying all together. I feel like we are way too young to be going through this and I'm not really sure what to do...it's a problem I never really thought existed
He's been to the doctor and everything checks out fine, he just has no drive. I think counseling may help, but I feel so embarrassed to go for something like this, we are great besides the lack of sex. Has anyone else experienced this?