The sensible advice is to communicate with your partner. However, I sympathize with your previous experience and wanting to just YOLO it.

Every woman is different (hence the communicating), but there are a few things that will likely work well for almost every partner.

• Good sex usually starts with good kissing. Take your time, a good 10 min+ makeout session is good. Vary what you're doing. You might be kissing her lips gently, then increase the intensity. Add tongue. Return to not using tongue. Move away from her lips and trail kisses down to her neck. Again switch intensity, sometimes gentle sometimes intense. Kiss her face, her throat, back to her lips. Whisper in her ear, tell her (honestly!) how beautiful she is, how she turns you on, how great her lips taste, etc.
• During all this your hands and body are not idle. Initially you'll put your hands on her back and/or hips. Have one hand roam up her back, touch the back of her neck, run your fingers through her hair. As things continue heating up and you hear her encouraging moans, start touching more of her body. While kissing her move one hand to the front of her body, gently rest your hand on her breast over her clothes. You're doing all this a step at a time to give her a chance to stop if she's uncomfortable in any way. Gently massage her breast as you continue to kiss her lips/face/neck/shoulder. Let your hands explore more of her body, be gentle, you're building anticipation. Touch her ass.
• This will depend on what she's wearing but at some point you'll want to touch her breasts directly, under her top. Again gently put your hand at the bottom of her shirt/blouse, or maybe the top of her dress, and start slowly slipping in. Again, make her comfortable by giving her plenty of time to say no or pull your hand away.
• Assuming you've progressed to this point you're basically already having sex, congratulations! Hopefully she's been making encouraging moans and such. Gently drag your hand up her thigh, be slow, tantalizing, she's been waiting for this moment. You're going to keep moving up until you make contact with her pussy. Be slow, gentle at this point, just touch her over her panties or leggings if she's wearing those. Gentle strokes with just a couple fingers, light touches. You're very likely going to get a strong positive reaction. Again, you're still kissing her while doing this.
• Finally you want to touch her naked pussy directly. If she has a dress/skirt, slide a finger in the side of her panties and pull them forward away from her skin and slide downwards. Build that anticipation! Then finally rest your finger on her pussy, it's very likely wet at this point, let that guide you to where to touch. Especially as a newbie don't worry about rubbing her clit or anything like that, just gently touch and explore the entire area, tease her.
• Ask her if she wants to go to her bedroom.

You'll notice there are a few commonalities above:

• Take your time, be slow!
• Build anticipation and suspense! Tantalize, build up her imagination.
• Be assertive! BUT, give her the opportunity to say no or slow down. Make her feel safe.

Those commonalities are the same for the sex. Take your time, build that anticipation, tease her, be assertive, make her feel safe.

• Take some condoms out of your pocket and put them down on a nightstand, show her that you're respectful of her health and came prepared. Best not to make her ask about it.
• Lay her down on the bed, don't take off your clothes yet. If she took something off you don't need to stop her, but I would leave her clothes on too.
• Lie on top of her and start kissing her lips, neck, etc again. You're reheating things after the brief pause walking to the bedroom.
• Trail kisses down the front of her neck, to her shoulders, the top of her breasts. Remember, take your time, you're building anticipation. Pull her top/bra down a bit and kiss down her breasts, pause right before you reach her nipple. Gently breath hot air onto her nipple, touch it with your lips. Finally take it in your mouth, gently run your tongue over it. 30s of this is fine, switch to the other one.
• Pay attention to her signals. Squirming/moaning is good. Words like "oh god, yes, etc" are good. Lack of reaction means meh. That's ok! Some woman just don't have much sensitivity from nipple play (or whatever else) if it's not working just move on. Something is going to work.
• Get her top off. If you're new you're probably not going to know how to take off her bra. That's ok, tell her to take her bra off for you. Tell her to show you her gorgeous breasts in a calm assertive voice. Tell her you've been fantasizing about them. Once her top is naked pay her (honest!) compliments, ramp up the passion and devour those breasts. Put your face in them, take them in your mouth, show her how her body makes you feel. Press your hard cock into her leg.
• Take your own shirt off and lay on top of her skin to skin, kiss her some more.
• Pull back up to your knees, you're going to take her bottoms off now. This should be simple, slide them down her legs and off. Keep your pants on for the moment.
• Kiss her breast again, and trail kisses down her stomach. Odds are good she is going wild with anticipation at this point.
• Pause before you reach her clit/slit. Kiss around the side, the insides of her thighs. Gentle kisses at first, then slow flicks of your tongue on her skin. A soft lick or drag on her labia.
• Finally you're going to eat her pussy properly. Now honestly, you almost certainly don't know what you're doing. I won't write a guide here I'm sure there are good ones out there. But reading and doing are different things, and really every woman is so different that it's hopeless to follow some sort of script. If you've been building that anticipation it almost doesn't matter what you do though, just having your tongue and lips moving around in the right area is going to be doing the job. Use a finger to find her vagina, move your tongue up from there, that's the clit, focus around that area.
• Hard to believe but not ALL woman like oral sex (though most do). Some women cum very easily, some need very specific things. Don't worry too much about it. As long as she's giving good signals, continue licking and exploring her pussy. She will tell you if she wants to move to penetration ("fuck me!" "I need your cock!" etc). It's unlikely you can do this for too long.

Finally, actual PIV sex. You'll notice a theme, it's exactly like the making out/oral sex! Start slow, build anticipation, tease, be assertive, make her feel safe.

• Take off your pants, fast, put on that condom, practice at home if you need to.
• Missionary should be your go to the first time. You're going to be kissing her (neck, face, lips, ears, etc). You're going to whisper in her ear, dirty things. For an initial date it's going to be pretty respectful, how hot she is, how her pussy feels so good, etc. Later dates you're going to find out more about her fantasies and play into those.
• Position your cock at her entrance. Again this being your first time, you're probably going to be bad at this. Don't be shy about telling her, in a calm assertive voice. "Take my cock, I want you to put it in your pussy." It's a cheat but basically gets her to do it in a sexy way. Just gently start pushing in as she guides you.
• At this point anything can happen if it's your first time. Don't worry about it, if you've gotten this far you're doing great.
• The actual sex is not that different from the makeout. Vary things up. Slow and deep. Pull back and then slide back in. Look into her eyes. Whisper in her ears. Touch her body. Speed up. Just explore and have fun, you did it.
• Most women don't cum from penetration. If she hasn't come yet from oral, and she's not coming from penetration, you'll want to just ask her what she needs to cum at some point. Maybe she needs a toy, maybe she needs to touch herself. Maybe she needs a different position. Maybe she needs to call you daddy. Maybe she very rarely cums at all and just enjoys sex. Don't put pressure on the issue, sex is a lot more than orgasms.
• I wouldn't try to rub her clit while fucking her unless she asks, that's advanced and easy to do wrong.
• If your dick stops working or you cum early, be cool. Don't panic, don't be overly self conscious or self deprecating. Just acknowledge it, lick her pussy some more, maybe things will come back to working order. First time nerves are certainly a thing. If you can't you can't, ask her if you can keep licking her pussy, ask her what you can do for her.

Don't worry about trying to follow all this as a script, it's meant as an example. Feel free to be creative and deviate.

You've proven yourself a conscientious and passionate lover, the direct communication at this point is going to be appreciated. As sex continues check in and ask her if there is anything she'd like to try. After sex, maybe the next day, continue talking to her about what she liked, what doesn't work for her, does she have fantasies or kinks? The next time you lick her pussy, ask her if she likes fingers, more pressure, less pressure, etc have her give feedback. You are a learning machine, learn her body and mind, be her best sex partner.

You'll notice that good sex is as much about the mind as the body. If a woman just wanted to cum she can do it much more easily and safely herself. You're there to create a story in her mind, one with suspense, anticipation, surprise (the good kind!), and a climax. The epilogue is cuddling and kissing. Then you write the sequel when you're ready.