The nerves will go away with time. Just keep doing it. The more you do it, the more comfortable you will get with yourself, your partner, and the action. My first few times and usually my first few times with someone new are exactly the opposite of yours. I generally get hard and no matter what, can't climax. I feel awful, because it ends up being very embarassing to the woman in my observations. They've always taken it as if they were doing something wrong, despite my saying otherwise.
Just keep at it, and everything will get better.
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