How do shy people get together

So recently this guy asked me out, and although I don’t know him well/for long yet, he seems like the sweetest guy

I’m 18 and have never kissed/had sex/ held hands/ been in a relationship, etc. neither has he, so neither of us knows how to do any of this.

I’d really like to initiate some physical thing, but he’s VERY shy and I’m quite awkward, and neither of us knows what to do...

Any tips on how to break this touch barrier or how to do any of this?? I can just feel that tension building hahaha...