2 years together but still no sex

So my bf and I have known each other for years but we only got together 2 years ago. We haven’t had sex yet because of sooo many reasons. We don’t really talk about it, because I think it’s still an awkward topic for the both of us considering that we both haven’t done it yet with other people (we masturbate on our own though). It’s also impossible to do it because we still live separately and our families just don’t leave home.

I’m actually scared of doing it because it might lead to some place we don’t wanna go. But I ~feel~ that we both wanna give it a try but I don’t know where to start. Any tips on how to initiate sex, where to do it, what to keep in mind before, during, after etc?