how to be more open?

My husband and I have been together for 6 years now, he's a VERY sexual person and is always asking me to do different stuff. (Bondage, different positions, etc)
I think because of how I was raised (very strict upbringing) a part of me still fears getting in trouble or getting caught... I know irrational, but still. 
How do I go about becoming more... confident or open about wanting to do these different things with my husband?