It's never too soo or too late to get help. I'm not an expert, but I can see that you might be carrying some baggage with respect to your partner's sexual experience and knowledge and that might translate into a resistance of even trying to be intimate.

I've been through this and am still going through it. We've tried sex therapy and in the end I'm the only one going. It can help, you both might be able to work things out and "reset" both your expectations, and then have an amazing and satisfying sex life.

Please don't give up before you even start!