please help!! sex advice

So I'm hanging out with a good guy friend on the 2ed of July and we've been intimate before (we had sex a long time ago) the thing is I haven't had sex in so long and I'm deathly afraid of getting intimate again,he's a sweet,gentle guy and I trust him with me life (we've been friends since middle school) I don't want to disappoint him or make him think I'm a prude,I always been afraid of intimacy even kissing freaks me out,but I been really pented up lately and been masturbating more then usual I really really want to have sex with him I'm just scared is there anyway I can get past this so we can both be happy???