The first thing is talk about it a lot. Set up safewords and take it really slow. Learn the basics about the types of play you are interested in, for instance, learn where you can tie someone safely and where you can't learn about places that the human body can take impact play and what places you should avoid. The biggest thing to keep BDSM play safe is knowledge. As far as the best beginner toys I would say start with silk scarves or maybe some of the intro BDSM kits here that include very basic items like blindfolds etc... If you have any other questions never be afraid to ask them.

Communication in a neutral place! Lots of communication. Discuss what both of you want from the experience in a physically and emotionally neutral place, make sure you understand each other and be on the same page. I am a new(er) BDSM player and my boyfriend is just new so we read a book together. It was a fun experience for both of us and, having a book bring up topics I would usually be shy about, really helped both of us. Lucky for me he had some intense hidden kink which matched really well with my sub role! Concerning what to purchase, I would suggest a beginner set online with comfortable restraints and ropes you can easily work with. When you are tied up you don't need to be comfortable, but not using shackles or twine ropes in the beginning is probably a good idea. If you are interested in sensation play, I would start with very mild toys. Aside from that, just start slow and make it a journey!

This is definitely my concern in my partner wanting me to engage in bdsm with her, but I also worry about hurting her or feeling like I'm doing some sort of damage to her mentally. I know she's told me over and over not to worry about that, but I think more education would definitely be a big help for me.

I seriously doubt you will damage her mentally. Talk about what you want to do beforehand (important:do not talk about it when you are horny) There is actually a great resource called the BDSM play partner checklist that I highly recommend you both fill out. It will give you an idea where you both are and what you both agree on wanting to try. It is quite lengthy and I would not recommend doing it together because intentionally or not you may sway each others opinions and this is something you want to be honest about, where your limits are and what you are interested in trying. Sit down and talk about it after you have filled it out. Discuss what the similarities and differences are in your choices. Also, remember to retake the checklist on occasion, because as you experience more you may both find you are willing to try things you did not think you would ever do. Here is a link
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Questions?

Communication is always key. While there are a number of excellent books out there on BDSM don't put the burden all on yourselves to figure everything out.

Try looking for a local kinky community. This can be a great place to get to talk other people about their experiences. Also, getting into a local community could open the opportunity to attend a party where you can see some of what you and your boyfriend want to try in person and can ask questions based on what you've seen.

If you haven't heard of fetlife yet I would recommend you check it out. It's free to join and is a good way to network and find people in your area.

As far as things going wrong though. It's going to happen at some point. No matter your skill level or years experience there is always a chance something can go wrong. The key here is knowing how to take care of a situation when things do go wrong.

Don't go buying anything just yet. Wait until you have a good idea of what you and your boyfriend want to do. No sense in wasting money on toys that you may end up not using.

If you have any specific questions please feel free to send me a message. I will be more than happy to answer it for you.