I don't know personally, but I've heard that it can be a little more uncomfortable/a bit sore the first few times, especially if the woman is anxious, because you are more tense and that has an effect... and then your body will get used to it after a few times and learn to relax. I think the general idea, so long as a woman isn't drastically tense or has any physical limitations in that area, the good feelings will overtake any discomfort so it will be "worth it".

I guess my advice would be a) try not to worry about it b) only do it when you are 100% sure you are ready c) make sure you do a lot of foreplay to ensure you are in the best physical condition, if you know what I mean and d) perhaps have some lube on standby as well, just for added help. Also, and it sounds like you've got this covered, communication