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Do somrthing to help him relax, maybe a bit of a massage before things get going wil loosen him up a bit and help him feel more relaxed, also makesure he knows that you are enjoying it and you are happy with what he is doing to help him feel more confident when he is with you.
He just needs to feel more relaxed and less pressured to perform and all should happen as normal.
This may be of some use:
http://ezinearticles.com/?Sex-Guide-For-Couples---Relaxation,-Acceptance-and-Communication&id=2470237
Good luck =)