I am a 47 year old man. I have had very little experience of romantic relationships with women, just the one which lasted about eight months. During that time we tried sex a couple of times both of which weren't good (IMO). This has left me anxious about what happens if the opportunity comes up again and it was anxiety the first time which killed my ability to get properly aroused.
Earlier this year (shortly after Easter) I met a woman who became friendly with me exceptionally quickly i.e. after one game of bridge she invited me round for lunch and we had some deep conversation. At the time my anxiety kicked in again and I told her politely I didn't think I had romantic feelings for her and would like us to be friends, which she agreed. Things have somewhat intensified between us and whilst I have been away on a charity challenge event last weekend, the messaging has strongly implied she has some sexual desire. I also feel sexual desire but don't want to have a relationship based only on lust; however the way she has been communicating has triggered feelings of affection in me, thus something more is a definite possibility.
Again, feelings of anxiety start to develop as she is a fair bit older than me, has a daughter and is going to be far more sexually experienced than me (you have to have at least some experience in order to give birth). My ultimate ambition with a woman romantically is to be able to sexually satisfy her, but my near-zero experience will likely mean I make a hash of it (it is extremely rare to do something fof the first or second time and be good at it). How can I resolve the feelings of conflict between fundamental sexual desire and the barrier of anxiety?