I wanna have sex with my co worker

So I have a co worker that basically works with me a lot and is always scheduled in my shifts. We've been touchy touchy (arms, shoulders, back) very lately even in front of our co workers, and I've been taking him to his house too. We stay in the car for a few minutes and I start to touch more and more and he looks like he doesn't have a problem with that. I touch his thighs and arms a lot and sometimes I even play with his hair and he lets me. I wanna pull a move but I feel scared it might go to shit and everything will go wrong. I wanna either tell him soon or pull a move since I'm about to leave this job so l wanna do something because at this point I kinda don't care as much as I should. I don't wanna ruin the thing we have but I really wanna fuck him and I want him to fuck me good. I really don't know what to do and I'm running out of patience I'm really close to just eating him up next time I take him home.