Sex Help

I am having some really bad confidence issues and not knowing how to initiate foreplay for sex. My boyfriend is trying to help me out by giving me some things that I could try but when it comes down to it I second-guess myself and get nervous and nothing happens. I need help what are you guys do? Has anyone else had these problems before? I’m just trying to find some thing that I can do in something that I am comfortable with and just build off of that if that makes sense