I need ideas

So, my husband and I have been together for 7 years now. Prior to having our daughter, sex usually hurt me for some reason. Since I had her for whatever reason things have improved in that sense. Now I’m trying to work on communication. I have literally no idea how to initiate it because he never takes the hint. Just saying “let’s have sex” is very unsexy to me and he doesn’t understand the concept of foreplay.  I asked him what turns him on and he said he doesn’t know. We have a “routine” right now but I’m trying to break away from that and make it more exciting. Any ideas?