You sound almost exactly like my girlfriend, usually I'm the one making the moves and shes really shy.

Don't worry about whether or not ur doing anything to please him, I bet hes plenty happy with wherever he touches you and with the things he does for you, I know I am. Maybe it sounds weird or something, doing things for (or to..ha) her makes me happy. Ya know..its all good.
But also if you want to do something, don't be afraid to. I'm sure he won't complain..and if he does its a good thing, you'll know what he does and doesnt like. Try to have confidence to do what you like too.