Sexuality

Last night I was in the mood to do the baby dance but my boyfriend instead wanted to do something different (sit on his chest ) and play with my self but I can’t figure out why I’m not comfortable 😖 I feel embarrassed b/c we always do the same sex positions . We have been together for 5 years but still nothing. I want to please my man in every way that may seem sexy to him . What should I do ? I love sex toys but I rather use them when I’m by myself but he doesn’t like it . He feels left out … is there anything I could go to change our spark in our sexual lives????