I think I’ve saved one of the juiciest and most ‘out there’ suggestion till the end of my ideas. It’s exactly like it says in the title. Preferably with your other half.
There a quite a few dominatrixes who offer ‘couples’ sessions. During which they will teach you various aspects of the BDSM culture. They may ask you about hard and soft limits and what you are hoping to gain from the the experience.
You may also decide to visit separately and then share your experience later but I’d be worried of that old relationship killer jealousy rearing their ugly head and biting you afterwards. For peace of mind, and to really understand what your partner wants as a submissive, I would suggest you go together-even if one of you merely watches and learns.