Well, I actually DID experience pain the first time, and yes, most females do. Pain is a subjective feeling; we all experience it differently. The level of pain one experiences varies depending on how "open" your hymen already is, how thick the tissue is, and how you personally experience pain. The hymen is made of connective tissue, and there ARE nerves in there, although not in great numbers. It hurts because you are stretching and tearing that tissue, and the pain/discomfort can be there the first couple of times you have sex.
That being said, have you used tampons or penetrated your vagina with anything else? That will have already helped to stretch the hymen a bit. Also, lubrication will help reduce the discomfort.
I think that "just doing it" is the best way to handle this. It probably won't be all that pleasant the first couple of times, so don't expect much.
PS - if you are really a kid posing as an adult, you are too young for sex.