I understand that you both feel like you are not nervous, but there could be some performance anxiety involved; or even more likely, he might just be subconsciously worried about getting caught, or about something else going wrong. Are you using birth control? If not, he could be worried – understandably – about pregnancy. You say that you are both getting frustrated – this can absolutely have an effect, as well. The best thing to do is relax and just let things unfold naturally – just enjoy the moment while you are together. Try to find time together where you won’t be disturbed and where you can set a romantic mood, but don’t put pressure on yourselves or each other that something should happen *now*. Also, you can encourage your boyfriend to abstain from masturbating before spending time with you. A penis vitamin crème (health professionals recommend Man1 Man Oil) may also help to support penis sensation and blood flow so that he is feeling every touch as much as possible. Good luck!
To be straight to the point, so me and my boyfriend are both virgins, but we decided to have sex, we started with four play and now we've gotten to the point where we both are really comfortable with each other that we both want to have sex. We've tried a couple times, and we both get really turned on but when it comes to inserting his penis his penis goes down he isn't hard anymore. He isn't nervous and neither am I. Now we just get frustrated that we don't feel like trying anymore. We love each other so much and we enjoy each other physically but we want to have sex, to have great sex and it doesn't happen, what can we do or what should we do?