"touch me"

Charlie • Demisexual; 18; is it nap time yet?

So my boyfriend and I have been together for now 2 years. he understands that I'm demisexual and is okay with waiting for me but he also knows that I want to explore sex as well. he wants to "touch me" but I'm not entirely sure what that means. I love and trust him as well. What should I do to prepare for it?