A common misconception is that BDSM play has to be about sex. Sex is nice, but trust is important to, and if someone insists on sex as a part of play you should avoid them. You will learn this as you become more familiar with the lifestyle.
As for guidance, or mentoring, that is probably a good idea, discuss all aspects of it, and see if you are comfortable with it in R/l. If not, just ask around here, we are more than willing to help.