I know that this happened to us when we first started. Mr. intuition was afraid he broke it or something!
But once we got back to our own room, everything was 110% functional. After much discussion, it turned out he was worried about me the whole time. I was a bit apprehensive about getting sexual with other people (grew up in a very devout Christian home), and he was concerned that I would feel hurt if I saw him with another woman. When I assured him that I was really okay with it, things went fine. This is a common enough thing that no one makes a big deal of it...except the poor guy it happens to. Nobody laughs at you or purposely makes you feel bad, because chances are, it's happened to them at some point, too.
Try the Cialis or Viagra. We've never tried it, but it seems to be a favorite remedy.