I would firstly suggest you to check whether you get anxious when you are engaged in any kind of sexual act.
If yes, then you need to engage in some form of relaxation or yoga, to relieve years symptoms.
Secondly, engaging more in oral sex, without touching each others' genitals also helps
in setting up the relaxation mode. Then you can go for penetration without much anxiety.
Else if you don't get anxious during the sexual act, in that case you need to consult a sexologist who can prescribe the necessary medication.
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