Knowing why you are afraid to initiate sexual contact or to ask someone out on a date can help decrease that fear. Working on your specific issues. For example, finding ways to feel better about yourself, your body, your sexuality, and your attractiveness and lovableness. You might want to set small attainable goals such as asking someone out to a movie without having to worry about initiating sex. You could practice touching people in a friendly, casual fashion - not just people you are attracted to, but rather working your way up to that.
Role play asking someone out or initiating sex.
This can help prepare you and give you the words you're searching for. Just talking about the problem with someone can help, too. Many survivors feel they must accept whatever their partner does to them sexually, rather than take an active role in their sexual enjoyment. Knowing what you want, what turns you on, and asking for that is crucial to your sexual enjoyment. Only you can really know what feels good and exciting to you.