Namechanged for this. Quick history: married 10 yrs, together 14yrs. One DC (18mo). When we first got together sex was great, we're compatible and DH is a generous lover (possibly to a fault, but that's another thread). I've probably always been a bit more self-conscious, although we were more adventurous back in the early days. Sex life gradually dwindled. It used to make me very sad about 8 years ago, but I've got used to it and I don't really miss it that much.
We've had sex once since DC was born 
, about three months ago. It was good for me, not so great for DH (he said he felt self-conscious, which isn't something he's suffered from before). We haven't bothered since. We used to be very cuddly and affectionate. Less so over the past few months (it feels as if all our cuddles are used up on DC, if that makes sense). We love each other deeply and while the lack of sex isn't much of an issue for either of us I don't think either of us want to become chronically sexless. I would like to have sex again before I die!
So, please someone tell me how to do it? (Or recommend me a how-to book or website.) Whenever we talk about it, it ends up either with sheepish shoulder-shrugging agreement that we're a bit crap, or it becomes jokey very quickly. We've never been into flirty texts (I cannot flirt, I'm just incapable of it, it makes me feel like a fool) or role playing (see previous comment about feeling like a fool), or anything like that. I know the real answer is 'just do it'. But how? It's like we know each other too well - it's almost too awkward...