How to be comfortable with dating and intimacy?

I’m talking simple things like deep convos, hugging, hand holding, cuddling. And of course the big things like sex. I’ve been in long relationships most of my life and now divorced. I’ve been single for 2.5 years and dated a little bit but no matter what intimacy is tough for me. I get nervous, worry I’m going to be bad and I’m constantly in my head. I want to get out of my head and stop worry so much