Don't think too much

If you are are nervous because you are inexperienced when it comes to touching, try not thinking so much and do what comes naturally. As humans we are "programmed" to do these things. We were born with instincts that allow us to find partners (potential mates). If you shut off some of the higher level brain processes (logical analysis, for example) and allow your more primitive processes to take over, you will find that things come naturally. I'm not saying to completely give in to your "animal instincts", but to relax and let these instincts guide you as learn the subtle art that is physical intimacy.