Is every intercourse painful?

To answer your question straight to the point, NO, every intercourse is not painful. In fact it can be the most pleasurable experience you have ever had. But for women the first time can often be painful because the hymen which covers the opening to the vagina tears when she is having intercourse. If you want to make the pain as less as possible it is good to first be comfortable with having sex, prep your body for what is going to come (you and your partner need to be on the same page)and focus on having a lot of foreplay to relax yourself and your vaginal muscles.