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Yes, it is normal. Your hymen may not break all the way through during the first or follow up vaginal intercourse. Hence, the pain you're reporting. If you're nervous and tense up, it may make you lock in your legs as to where penetration may feel more uncomfortable for him but it would still occur.
If you feel comfortable seeing your OBGYN, they can tell you if there is still some of your hymen attached.
As you continue to have vaginal intercourse, this pain will go away. You may take a pain pill before your next intimate encounter but this is normal pain that won't persist. Try to be relaxed as much as possible both emotionally and physically. Maybe having a warm bath before that would help with muscle tension.
I have tried to have sex before when I was 18 and I found it painful then too! I just keep thinking that because that image is still in my head and knowing how painful it was then it might be stopping me from having sex again and this scares me it makes me feel like I will never be able to do it