Painful sex?

I'm 21 and lost my virginity to my boyfriend in March. Since then, we've had sex once or twice a week. The first time was uncomfortable and I did bleed, after that it has gotten better and easier, but every time we have sex the very beginning is still somewhat painful to me. I have a small vagina, and he has a larger penis. We usually try to do a lot of foreplay beforehand so I'm "ready" down there, and that helps a little. But it usually takes about 10 minutes of easing himself into me before it starts to feel good and doesn't hurt anymore. My boyfriend is really patient and good about taking his time and doesn't rush things.. but I always feel bad it takes us awhile before it's not hurting me.

Like I said, once we get going, it stops hurting and feels great. It's just the beginning is painful to me.

Is this normal? And is there anything I/we can do to help this?