I've done over 40 shoots with models now, first time I was a bit nervous but that faded quickly and it's never gotten 'exciting' to me. The poses you're most likely looking for are not spreads and fingers in dark places, but exotic curves, shadows, shapes. More hiding than showing etc. I've done live drawing for years with nude models, first time was also a bit shaky, but it changes quickly from 'ooohh, naked girl!' to 'here's my model, there are my lights, this is what I want to get'. Keep it light and fun, comfortable space, warm(!), have music on (I bring a docking station so they can plug in their phone or ipod etc or I set it to pandora for what ever music they like (if they care).
Communicate, show her images on the camera etc. Don't be creepy
I worked with a model who's an exotic dancer, I just let her go do her thing which at times got more explicit than what I really look for, but it was a nice flow and never excited me. I was crawling around on the floor, climbing on a ladder, walking all around her (try a shot or two with the light behind her, can be fun) and we had a fun time. I just won't show all the photos I got to my wife, LOL. Doubt she'd care, but it might plant the "so you're shooting porn now?" thought in her head, and I have little interest in shooting porn. though my definition might be a bit looser. Porn to me is mainly zooming in on genitalia and their workings. That takes away the touch of mystery I want to have in my photos.
Maybe, if you don't want to jump right in in your own studio by yourself, find a meetup.com group in your area, there should be some that organize group shoots, which might be a bit more relaxed since there are lots of other people there. I like group sessions, there's always a new idea or two I can pick up from an other photographer. And I can't afford all that studio gear let alone studio space anyway. And I'd be very hesitant to invite 'some model' to my home.
Have an idea of the kind of images you want from the session, have your gear set up, start with some warm up stuff, go from there. If I hire directly I ask them to wear some loose clothing, no fun having to edit out lines from tight jeans etc. It's a lot of fun, my favorite kind of photography actually. I do get in the zone, time flies. I've worked with two girls, a male/female couple (modern dancers), latex models, it's really fun and at least to me, never sexual in any way. Just like my drawing and painting classes. I just love the form and flow of a well defined human body, and what you can do with light and shadow.