I am a male who has fooled around with another male friend a couple of times over a 15 year span, we are always so nervous when we have done stuff that we cant get erections. We have only had oral sex mostly and intercourse 2 times once i did him and once he did me and each time we only did it for about 5 minutes without orgasm, we went limp but we want to do it again because he mentioned it one time on the phone and I had not seen him until 3 months later and we were both so nervous that it didnt get brought up.

The question is what is a good way to initiate the subject of fooling around again, what do I say, do, and how can we be more relaxed with each other