Talk about fantasies. Then you will see that the erection will just naturally occur and then you can have intercourse. You might need to see a sex therapist about this. It may take one session. I think everyone does shy away from it.
Women shy away from it more than men do.
There is a lot on the Internet. There are many books out there, which shows it is hard to learn from a book. The best thing to do is to find a relationship expert. I have a website where people can email me specific questions. If you email me a question try to make it as specific as possible.