One thing you can try is to have some times when you agree ahead of time that you will not do certain things, like intercourse--that you're just going to "play." Sometimes that will lead to nothing--literally, neither of you doing much. If that happens, just snuggle. Sometimes, it can lead to silly, playful sexual stuff without the pressure of "getting to the intercourse."
Laughing is really important, especially if something goes wrong, or someone does something silly or clumsy. Gotta be able to laugh.
