How To Get Started With My Husband

My husband has mentioned on numerous occasions that he is open to the idea of prostate play, although he has never experimented on his own (as far as I know, but I will confirm) and I have virtually no experience either. I bought an Aneros a couple of years ago to use on him and have barely rubbed it near his anus. I have also used my finger a little bit in his anus, but I’m very hesitant because I don’t want to hurt him. One thing that makes this kind of experimentation especially challenging for me is that my husband does not communicate a whole lot during sex and is very quiet and reserved making it difficult for me to know what feels good for him.
This is something I have accepted about him and is not something that I believe he can easily change.
I’m looking for any suggestions/advice on how I might proceed. Is it unrealistic to believe this is something we can learn together or does he really need to experience it himself before I can join in?
Cross-posted in other subreddit.