The Marriage Talk -- Does it make you nervous?

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I'm reading a book right now where the protagonist is afraid to talk to her boyfriend about marriage lest he think she's pressuring him into it, and I related. I don't like talking about marriage with my boyfriend. We've discussed that we both see each other in our future and are in it 'for the long haul' but we've never actually talked about getting married or proposing or even moving in together (possibly because I'm in a rental and he owns a small condo that the 2 of us plus a cat and a dog would be miserably cramped in). I can't think of one easy way to approach the subject without feeling embarrassed myself and without him feeling like the pressure's on. Am I the only one a little afraid of bringing up such a touchy subject with my significant other? Have you ever brought the subject up with your partner if you aren't married, or did you in the past before you got married? Honestly how did it go?