Please please please take 30 seconds of your life and please help mee!!!!!?

my boyfriend is really nice and sweet , but the problem is hes afraid to touch me , he hugs me and kisses me but if he accidentally touches my butt or boob ( by accident) he freaks out and says he feels bad, but i want him to , what should i do? i cant tell him its okay because he makes everything awkward when i say something dirty by accident and hes very sick minded but kind of square ..