How to do something is very logical.
It can be a safe way to proceed to the next level in a relationship.
And it may help manage the emotions, the activity, the work/play balance.
I need to laugh more about finding good ways to have a sexual relationship.
Try this 12 step approach if you think it is best and will do no harm for you and your partner.
How to Ask Someone if They Want to Have Sex: 12 Steps (wikihow.com)