How to make my boyfriend get a *****?

Me and my boyfriend make out, we kiss, and he holds me close to him. I've seen his dick threw his pants and draws but ive never seen him get a *****. Today he sat down and pulled me onto his lap, he made me sit on his lap facing towards him so our faces were close. He kissed me then he kept pushing me against him, then releasing, then pushing me again and again. It was almost like I was riding him or having sex with clothes on. He still didn't get a *****.. I'm to nervous to touch his dick. However he certainly isnt afraid to touch me. For instance today we were making out and he slid his fingers down to my "V" area and started touching me and pulling up. HE IS IMPOSSIBLE TO GET A *****, any advice?