Asexual.... maybe?

[SleepTalker]

Like everyone else i think professional help would be the best decision. Maybe you could start by touching the other person and let their hands wander a bit, just a bit. Try letting the persons hand wander more and more as time goes on. I dont mean you should do it all in one night. Try it over a span of weeks if you have to. I think eventually you will start to relax and feel comfortable with the other person. Im no professional though. This is my opinion.