How can I touch his place through clothes? (Serious answers only please!)?

My boyfriend and I have been together for a really long time and we've made out laying down, standing up, sitting, pretty much every way possible. We both are definitely not ready for but he's touched my through my shirt which is totally fine with me, considering how I moved his hand there. Anyway; I felt guilty that he always seems to do things that give me pleasure but I never really do anything. I asked him if there was anything i could do that would give him pleasure and he said if i touched his through clothes. I asked this question before and i got a few good answers (so thank you) but lots of people were calling me a skank when all i want is to know what the hell to do. I don't want any degrading answers and i swear i will report your answers if they're mean. He's a year older than me so i don't want to screw up. He told me that would make him happy at least a week or more ago so like i really need to know. I told him I would sleep on it and i am pretty sure I am ready for it but i just do not know how. Thank you for your time, and I really only want serious answers, please, I'm just trying to make my guy happy. He told me personally he's not ready for so don't bring that up either. He's a good person, all i want to do is make sure he's happy with me.