Boyfriend said he's never been intimate with anyone before

Me and my boyfriend have been together a year and still have not had sex. I tried before when we were bathing together because he got hard but he ended up falling asleep.... I talked to him about us being together a year and that we still haven't had sex and wanted to know if he was interested in that. He said he's never been intimate with anyone before because he's always struggled with letting people in because he had a bad upbringing. He said he wouldn't mind being intimate but he doesn't know how. So how do we begin to have sex