Dildos

Hi, me and my boyfriend have been together for almost 2 years now and have never had actual interfourse. We have always done oral and nothing else. Me and him both want to have intercourse but our problem is that he is really large and I'm really small so it's kinda intimidating to us because he doesn't want to hurt me. I have only had sex one other time, and it didn't hurt but the other guy wasn't as large as my boyfriend. Should I practice with dildos ?