Any advice on being more adventurous?

Stacey
Last night me and my boyfriend decided to change things up a bit and try new things. Some funnier fails than others but what I discovered was I get the most pleasure from doggy except my boyfriend ends up exhausted really quickly! 
Also (don't judge!) last night was the first time I've ever actually touched him, I was always too nervous before. We couldn't find a good position to touch each other though and my hand went dead and he could hardly reach me! Any tips?