Today when we woke up, he suggested (out of the blue) that we do foreplay just for the fun of it, that doesn't end in anything and has no goal or time limit. And he suggested that I guide his hands and tell him what feels good, even if it's not sexy-good, the whole time.
It lasted quite a while... and it was fun, for both of us. I even figured out what one of his hangups was, since he was guiding me, too.
So, you know, progress and whatnot. Good suggestions, everyone (especially @tirimasu).