I'm wondering, because this is something I've experienced...
Many if the sensations of approaching orgasm, are pretty similar to feelings of anxiety e.g breathlessness, sweating, feeling hot, feeling out of control and altered sensations of consciousness. It may well be that actually, what you are interpreting as anxiety is in fact arousal.
Really the only way to test this out is to figure it out on your own I.e. Masturbate, or to try and work through your feelings of anxiety with your husband. If you try to work it through with him, then when you feel panicky, cease penetration, but continue kissing and caressing each other until you feel in control again, then attempt penetration again. Also experiment with different positions and things, personally direct clitoral sTimulation can feel too intense and provoke feelings of anxiety in me when I'm not doing too great, for that reason I sometimes find that positions such as doggy style are easier. It also means that if you do feel anxiety, you don't have the pressure of someone in your face observing it! There's also a lot of sex and intimacy you can have without full blown intercourse, I would suggest you and your husband explore as to what you feel able to do, but still satisfies you both.
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