Hi ladies! Ok I need some advice. Any help is greatly appreciated!!

Ok so my SO and I had sex for the first time on Friday night. Neither of us finished though, because out of nowhere we both got nervous. I'm not sure why, he had a condom on. He lost his erection but he did get a few thrusts in, it was amazing. But, I guess I'm wondering, has anyone else experienced this? How did you make it better? Thanks!