I am assuming that you are a relatively close couple and know already how to communicate with each other... so the best advice I can give is to keep communicating. Experiment with what you want to do - start slow but you will eventually build confidence. There is a wealth of advice on this site so feel free to ask questions but I say that the best way to go is to have a play and see what you do or don't like. Just remember basic safety and keep communicating how you each felt about each experience. Maybe you should each start a journal and share thoughts from it on a regular basis? Make it a regular weekly part of your routine - say every Friday night you sit down and read each other's diaries and make comments?