Questions about sexual contact?

basically im 16 years old and ive been with my boyfriend for almost 4months now, and when were together i get extremely horny and we basically have dry sex haha, and just turn each other on because i told him a while ago im not ready to have any sex or sexual contact. but lately ive been getting so horny and keep getting these random urges to just touch his penis haha! and just to let him touch me so i THINK im ready, does this seem like im ready to you? and anyways i want to like toss him off but i have no idea how so i was just wondering if you have any tips?! and also i was just wondering if he was to do things with me just touching and me with him, would we be able to do it like 'down our pants' if that makes sense, like without having to take everything off because i wouldnt really want to risk my parents walking in and i know friends who have had awkward uncomfortable experiences when theyve felt horrible because they had to sit there with their legs spread open so their boyfriend could touch them and i think id feel uncomfrotable. and also i want to know if it would be awkward after doing that stuff and how i or him would know when to stop touching? im just a bit worried it will be awkward or something will go wrong so id love to hear about your advice and possibly past experiences where its been awkward or gone wrong and how you 'overcame' it? or if it was successful?