Hi there Lovergirl95, I'm sorry to hear that this is causing you some pain and frustration at the moment. Sometimes, what can be the issue is tensing up before trying to insert something because you're expecting pain, and/or because you're putting pressure on yourself to have inserting something into your vagina feel pleasurable. Because our brains are a really important part of the sexual response cycle, that kind of stress/anxiety can really engage the brakes as far as arousal is concerned. Therefore it could be a good idea to give yourself a break from trying to insert things into your vagina for a while, and focus on things that do bring you pleasure, whether those are other sexual things, or things entirely separate to sex that bring you happiness or physical enjoyment.
Another thing that you could try is inserting a small dildo or a finger at first, after you've already orgasmed, as you'll be very aroused at that point. You can read more about it in this article here:
From OW! to WOW! Demystifying Painful Intercourse. Given your experience (and that of many other people with vaginas, you may not find this sensation of having something inserted in your vagina particularly pleasurable, but if this doesn't cause you pain, then you have the information that being fully aroused is the key to avoiding pain.
With regards to penis in vagina intercourse, it is also worthwhile to remember that it isn't the be all and end all of sex, there are many other ways to be sexual with a partner, which the above linked article goes into in a bit more detail. When you've had an opportunity to read it, please feel free to share your questions, thoughts and curiosities about it (or anything else) with us here!