Communication matters a lot in those situations. Ask him what he'd like for you to do. Ask him how he'd like it. While things are happening ask what feels good and what doesn't.

Sex can often be about trail and error and figuring out what feels good for you and for your partner. Talk to him about it and it'll become easier. The first times trying things are always the hardest so don't worry too much.

You shouldn't do anything you don't feel comfortable with though but if you genuinely would like to take it a step further and do more just have conversations about it and figure it out together.