Welcome to the boards, SiriusFire
It definitely depends on what the two of you mean by "sex". While in daily conversations a lot of people define sex only as the insertive/intercourse kind (be it vaginal or anal), sex can actually mean anything done out of free will and consent to express their sexuality. (You can read more about how we define sex here:
What's Sex?). So, by this definition, even masturbation and kissing/making out—in other words, behaviors that don't involve direct genital-to-genital contact—count as sex. Additionally, there's no one way of having sex, not just because everyone's bodies are different, but also because every sexual relationship is unique. The two of you get to decide what kind of sexual relationship you'd like to have, with clear communication and continuous discussion of consent.
It's a good idea to take things slow; for example, the two of you may want to explore each other's bodies as a whole, rather than only focusing on one sexual act. It's also good to avoid trying to do everything at once. Maybe, for now, it might feel too much for the both of you to immediately get naked at the same time, and that's okay. What matters is that the two of you approach sex with curiosity and consent.
Aside from the article I linked above, you might find these ones useful. Let me know if you've got any questions after reading them:
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Ready or Not? The Scarleteen Sex Readiness Checklist
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Yes, No, Maybe So: A Sexual Inventory Stocklist
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Be a Blabbermouth! The Whys, Whats and Hows of Talking About Sex With a Partner
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Driver's Ed for the Sexual Superhighway: Navigating Consent
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This recent message board answer by our founder, Heather, about this topic