Hey Jess,
Actually the best place to start is by doing what you are doing, which is researching your options and talking about things thoroughly before trying them...
1) perhaps going to a sex store and looking at all the options as you don't want to start with a punch in the face if you have never been punched in the face before,
Whips & Floggers
Restraints
SportsSheets Brand - Great for beginners
2) knowing the other persons boundaries(what they are willing to participate in) and having a safe word, which will signify stopping will be a definite help.
3) Pick up a few books as well, there are great books on how to talk dirty, about basic bondage, you could even get sexy stories about bondage
Adult Books
Erotica
4) Afterwards talk about it again and discuss what you liked and disliked about your experience and modify and adjust and add new things to your love life to make it sizzle.
I won't even get into the fact there's all kinds of sex toys for couples like vibrating cock-rings or the We-Vibe or role-playing(nurse, school girl, cop), public sex, video taping etc.
I hope this helps you!
V.
BestVibes