There are MANY ways to explore sex. And many do not require penetration. Try games, romantic hang outs, intimacy play, toys for him, toys for her, roleplay, exchangism, blindfolding, ect.
Organize nights out (or in) where you put a focus on exploring intimacy.
Make it clear that the goal is pleasure, but not penetration.
Do not do things you do not feel comfortable with, communicate VERY CLEARLY with your spouse on expectations and such, and I would encourage to start slow and not to make it a big deal at first.
I can guarantee that after an hour of cuddling naked and exploring pleasure, your spouse is going to feel like he is loved and wanted.