Help!!

Ok so me and my man friend mess around a bit nothing serious... he fingers me , plays with me , , we make out , he sucks on my tits. You get the point! Soo I’ve literally never done anything with a dick like nothing. I want him to keep pleasing me but I can tell he wants me to do something because he gets hard and kinda rubs it on me. I don’t even know what to do like I’m completely oblivious like do I rub it , hold it , touch it wtf ughh. I know there’s sucking and hand job but also have literally no clue how and I don’t want to embarrass myself 😥