Should i be touching my guys dick when we make out?

I'm a straight guy, and I can honestly say that it would not bother me in the slightest if the woman I was with was hesitant to do anything. He should respect the fact that your comfortable enough with him to engage in the contact you already were. If he is upset by it and becomes angry (and I'm not saying he will), then you may want to break it off. Never let him take it a pace your not comfortable with but let him know it's because your uneasy, and not because of something he did.