Forget your worries and stress. Forget about performance anxiety and fixations about technique.
Take a relaxing break with the help of erotic massage! Some sex therapists call this type of touch "sensuality exercises" (i.e. where you do not touch the genitals).
It is sensual because desire is aroused, and every millimetre of your sensitive skin is treated. So, don't be afraid to try, either with your current lover or with a new partner. Touching causes you to come closer to each other.
Here you can learn how to do it properly, step by step.
It is now time to concentrate on the more erotic aspect of the massage.
Many women like first to be caressed a little superficially over their whole genital area, and then have the clitoris stimulated, ending with deeper vaginal massage centring on the G spot and/or the clitoris.
Be firm and decisive with your hand, neither too rough nor too scared to hurt him. A good technique is to use two types of motion and switch between them. For example, use a softer and a more intense one.
Here are some examples of how to best massage a penis: