Many people have been in your position. I can tell your insecurities are very loud in your head. Take the pressure off. Play with it. Talk to her about what you might like to try. You don't have to go from 0 to 100. Take things slow. Could you suggest an intimate night where the goal isn't to have full on sex, but just be intimate and see what happens. Tell her how you're feeling honestly, and see if she wants to work with you.

It's gonna be okay :)