Initiating sex?

This is embarrassing for me to admit, but I have a lot of insecurities about my body and they affect my confidence. I want to initiate sex with my boyfriend but I feel embarrassed and don’t know how to do it without being super weird and uncomfortable because of how I look. I know my boyfriend loves me & I’m comfortable with him, just not with myself. Does anyone have any ideas on how i can get over my insecurities and let myself live? Maybe you experienced this too?? I’m not sure what to do. Thank you very much in advance.