How to tell the guy that you changed your mind and want a relationship?

I am dating a guy for a year and half. He has introduced me to some friends and family. I have been quite reluctant and have not introduced him to anyone on my side.
But I am not quite sure what he wants and I am a bit tired and I want a something more stable. We don’t meet that regularly because of our jobs and we both have kids. I feel that things have progressed but I am wondering if he is just using me for sex and not committed ( I am clueless). I also said in the beginning that I didn’t wanted a relationship. He said that we wanted a relationship when we first started dating. But since I have been stained by men that lie a lot I always take that saying from a men with a grain of salt.
My question is How do I tell him that I change my mind, And I want to give it a try of a relationship and introduce my kid to him?
How to tell the guy that you changed your mind and want a relationship?
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