I broke my husband's penis

Not really, but kind of. I hurt him pretty bad. So we were having sex and I was riding him and his penis slipped out and he let out the biggest scream in pain (I'm assuming it got bent). I was so scared I seriously hurt him. He said it was okay and was just an accident but he was in a ton of pain and said his penis is still tingling. His penis is curved, down and to the left a little so I'm assuming it got bent and slipped out that way when I was riding him. So my question is this: how do I ride him correctly to where his penis won't slip out or I'll hurt him?? I'm terrified to ride him now after this. He's not small either so it had nothing to do with that