How do I twerk and grind?

So my boyfriend wants me to twerk, grind, give him a lap dance etc. I haven’t given one before and he’s never had one so I guess he doesn’t know what to expect but I’m still afraid I’ll do it wrong and look like an idiot. I also feel really awkward when we’re about to do anything sexual so I feel like I would just stand still and freak out. Pleaseee help.
How do I twerk and grind?
Add Opinion