Virginity age 21

My friends tell me I just have to get over it but it hurts so bad. How did you guys over come it. I’ve been with my boyfriend for 3 years. I feel so bad but it’s just so painful when we try. The guilt is so much but the pain is more. He doesn’t pressure me but I feel so bad. He wants us to get married and have kids and I want to as well but I’m like I can’t even give up my virginity how the hell am I gonna have a baby.