Inexperienced

I’m scared to grab my boyfriend’s dick and get on top. He’s 22 and has done everything possible to pleasure me, but I’m not that experienced in bed and don’t want to embarrass myself. This is my second time. He doesn’t trip at all, he’s just always making sure that I’m good. We have sex on the edge of the bed because he’s really tall, so he’s always in control. He’s never laid down for me to get on top of him, but I’m scared to. I feel bad.