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Do you actually feel nervous when having intercourse or are you speculating that you are subconsciously nervous?
First thing: communication. Second thing: communication. The way to slay this dragon is to force it out in the open. Talk to her about what is happening.
Go down on her, give her an orgasm, and if you are hard, go for intercourse. Otherwise, just relax after her orgasm. This too shall pass.
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Ceterum censeo Carthaginem esse delendam.
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