Planning is key. Have a safe word that you both agree on. Then decide what kind of scenario you both want. If you want a surprise, like spontaneously coming home to a "break-in" or if you want "middle of the night home invasion". A popular one is "date gone wrong". Then you can play around with details; who's going to be the attacker vs victim, bondage, rope play, manhandling, impact play (spanking). If you do use some kind of mouth covering, have a "safe action". It's a nonverbal safe word. Like to drop a ball or bell if you want to stop or slow down, or snap/clap.

Another important detail you both shouldn't forget is aftercare. For both of you. Take time to decompress and talk afterwards. We're there parts that you liked, are there parts you didn't like. Ground yourselves and get some food in you. My choice would be scheduling a delivery for an hour after the scene is over. You both need time to clean up and adjust. Then relax with yourselves while eating.

This is going to be a big step and it's okay to take your time planning it out, because the both of you need to feel secure in the plan. It can also be a lot to handle for both sides. Which is why aftercare is important.