how to infiltrate BDSM into my reg sex life?

So, I'm SUPER into BDSM, but my longterm boyfriend & I have had trouble fitting it into our regular sex life. It just feels kind of... Awkward. Like he's not 100% sure what to do. I feel like that's normal, because him being controlling in our relationship outside of sex doesn't happen as he's not controlling, so I can understand why he finds it hard to assume the roll of a Dom, but I really want it to work. He's all for trying, we just don't seem to be quite succeeding, if that makes any sense. So, would you ladies have any recommendations on how we could better this part of our sex life?