I think he is just nervous. He'll have spent a long time thinking about sex, and planning it all in his head, and now, when he has the opportunity, he is distracted by the practicalities. I think sex is quite tricky for guys, but when they practice, it becomes second nature.
Getting his penis in is just the first step. Once he manages to get hard, and then in, he's going to be faced with a whole new issue of moving around in way that actually feels good. He'll have spent a lot of time masturbating and it's gonna be weird trying to have an orgasm with something over which he has very little control.
I'd try and give off a vibe of absolutely no expectations, and when he does something good, let him know in a sexy kind of way. You're just gonna have to lay there in a non-threatening manner for a few weeks, but by the time he learns, you're gonna have a guy who is perfectly trained to your own needs, so it's definitely worth the patience. I'd possibly try some ky-jelly, because that will make it easier to go in. Also, you can focus on other sexual acts while he gets his confidence together - if you make sex a big, final goal, then he's always gonna be nervous, but you can make it just one of the many fun things you can do together.