Yes, there is!
First of all, if you're using good-quality condoms and plenty of condom-safe lubricant, (A Simple Condom Primer), this will cut down on the friction problem. Your vulvar and vaginal tissues are very delicate, and lube can help make everything more enjoyable for both parties.
Second, you should expect a little bit of pausing; everything doesn't have to go in all at once. That you're telling him what's uncomfortable and he's stopping is a good thing - communication can only make intercourse easier and more pleasurable.
Third, you may be nervous, and tensing your muscles. This can make penetration difficult, and it can make it hurt. Remember, it's not about getting it all the way in, and it's not all about orgasm - if it hurts, don't do it, give it a rest for awhile. There are plenty of things you guys can do that are fun and feel good but don't involve intercourse.
"Ooh, I'll settle down with some old story/About a boy who's just like me/Thought there was love in everything and everyone, you're so naive!"-Belle and Sebastian, "Get Me Away From Here I'm Dying"