Getting over fear of losing virginity

I'm 16 and I found out the boy I've been getting with is not a virgin, whereas I am (we have discussed having sex, so he knows I'm a virgin). Although this is kind of a good thing bcs then atleast someone knows what they're doing (lol) it makes me even more nervous for the first time. I just feel like I'm going to make a fool of myself or do something wrong, as I obviously don't know as much in the bedroom department as he does. Also how does sex get initiated? Is it just 'kiss, kiss, oh look your penis is in my vagina'?? Ugh it seems so awkward