Penis not finding her vagina

This is my first girlfriend that I am trying to have penetrative sex with. We have been together for several years and have had great oral sex but never penetrative. Recently we decided to have penetrative sex but for some reason I struggled to fit my penis in her vagina. The bedroom is dark and all I could do is to try and feel her and position my penis as best as I can but it never seems to go in. Each time this happens my mind takes over and I go limp almost immediately as I feel like a failure for not being able to do something as simple as this. She is concerned that something could be wrong with her too. The fact that we are both worried when I couldn’t get my penis in her kills the mood for penetrative sex each time we try and fail. Do you guys have any advice on how to insert the penis into the vagina easily each time? I know this sounds like a silly situation to be in but I can’t help but to think I’m doing it all wrong. I’ve joined this app and community now so I can learn to control my inner voice that tells me I’m useless and that I can never do it. I do not want it to take over my mind each time we try penetrative sex. I want to stay hard for longer and continue trying until we get it right and enjoy the penetrative sex we’ve been craving with each other

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My advice is to signal her once you are hard and then roll her on top. She can then she can then find your penis. You will then start learning about the anatomy of her bottom and where her vagina is positioned.

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I would suggest that she maybe able to guide you in with her hand - as in she holds your penis and literally guides you in. This of course assumes that she can feel where things are and knows her body - if she is not familiar or comfortable then you could try masturbating together or the mojo sensate exercises to learn each others anatomy.

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Err on the side of lower than you’d think. When aroused, she will also be “hard” and it can hide the opening depending on your gal’s set-up. Ask her to guide it in! That could be a very sensual experience for you both. You got this, champ.

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Spit on it lol! Or lick it a couple times and maybe even try a finger slowly maybe even two
Get to know her vagina

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Don’t be afraid to whisper to her “guide me in” this does 2 things 1) ensures consensual intercourse and 2) engages her to say “go slow” as you need to open her up… also don’t overthink this I’ve been with lots of women and it never seems to be in the same place twice

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I second everything others are saying and I’ll add: LUBE! Lube can make all the difference.

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Finger her first, if she’s she will be wet and then simply touch with your finger wheeee it’s wet and where the hole is (on the bottom, so start at the top and bring your finger down to find the hole) and bring your penis to it. Or lay on back and she can position her self on it, let her do it.

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I would go down on her first or touch her - her being lubricated either naturally or through commercial lube makes it a lot easier and then there is nothing wrong with you guiding it manually. Or asking her to do it to add the the sensation. Going from touching each other to manually guiding in is an easy transition and then you just need to find the angle you like best. It is sometimes easier if her hips are propped up if you’re in missionary and it should increase the pleasure for her because the angle will be better for deeper penetration.