I think you are right to have done things your way, but if you are ready to make things different you should remember that we all have to have a first time. Unless you are trying for a baby which i think you aren't, then sex is for fun, let it be that way. You will learn how to make it more fun each time, that's the how it is. Wait for someone that is easy to be with, and that you can trust, and that with who you can be honest about it being your first time, tell them, people can deal with the truth when they know it. Not every one will disregard your feelings. If you are concerned about what to do, find some soft porn on the net, i truly believe this would help as you can see people doing what people do. It isn't perverted or disgraceful, just try it.
Good luck babe