sex for the first time

Can someone please explain, In as much detail as you can what it's like to have sex for the first time? I am starting to think I will soon be ready to lose my virginity to my boyfriend but I'm scared because I have no idea what I'm doing. He's had sex before so knows what he's doing which is good but I'm worried he will judge me or compare me to the other girls he has slept with. I really trust him and can't imagine losing my virginity to anyone else. We've not really done anything sexual before. I don't want him to finger me or lick me out because I'm really self conscious about my own vagina, I almost wanked him off the other day but I panicked and didn't do it because I didnt want to do anything wrong. I really wanna make him happy and do things like that with him but I'm nervous to. Someone please help I really need advice😩😩