My husband went soft while we tried sex

Me and my husband have been having marital problems for a few years. We finally sucked up our pride and went to marriage counseling. It has been really nice tbh. We haven't had sex in a year. We started to really dislike each other and our therapist has helped us open up about our feelings. My husband also started seeing individual therapist to help with his anger issues. I feel emotional we have gotten to a better place. We went from leaving the room whenever the other walked in to having conversations and laughing and watching movies together. It's the healthiest we've been in a long time. Last night we finally tried to have sex for the first time in a year. It seemed to be going well. But soon after he started going in and going, he went soft. I asked if I did something wrong and he started blushing saying no and to give him a minute. He tried to jack off and I offered to help but when my husband gets embarrassed he kind of shuts down, which is what he did and said we should go to bed. I went to the bathroom and cried silently. I just thought every thing was getting better but we couldn't even have sex properly. Has anyone been through this? Does it get better?