I can't do a sexy lap dance for my bf. tips?

Been with my bf for 8 years. He does "sexy" lapdances for me sometimes when he's in the mood. I mostly think its funny but he asked me to do the same for him. I tried. I tried real hard. But I felt so dorky and uncomfortable while I was trying and gave up. We don't have any other sexy time issues. I do like dancing regular but only if other people r Dancing. I thought I was pretty comfortable with my body and him. So I was wondering does anybody else do this for their so and some tips for getting out of my head I guess.