This is one of the seven personal disciplines of passionate intimacy in Doug Rosenau's book A Celebration of Sex. Or as I like to call them, the Seven Habits of Highly Erotic Lovers.
Doug's point is, it takes some healthy self-confidence and being comfortable in your own skin in order to be uninhibited and adventurous.
Confidently Secure Then Wildly Adventurous
.....it takes two whole people to make a whole relationship. The scriptural injunction—"each one should test his own actions. Then he can take pride in himself, without comparing himself to somebody else" (Gal. 6:4 NIV)—encourages thsi type of personal wholeness. Every mate who wants to be a passionate lover must practice the discipline of growing up and becoming a confident person.
Genuine self-esteem is based on accepting God's verdict that each human being is "fearfully and wonderfully made" (Ps. 139:14 NIV). It is not pride but godly self-awareness to know one's strengths and spiritual gifts. Romans 12:3 encourages, "Do not think of yourself more highly then you ought, but rather think of yourself with sober judgement [a realistic assessment], in accordance with the measure of faith God has given you." (NIV). In this confident awareness and wholeness, lovers express their needs and choose to risk deeper intimacy and new behaviors."
I've seen this discipline, this attitude change bear much fruit in my life. And more to grow...