First time

I'm 16 and my boyfriend is 16. We have been together for over a year.. Recently I have wanted to have sex with him but I'm just scared it will hurt. However yesterday we were fooling around and he asked could he put the tip in to see what it felt like (he is also a virgin) and I really wanted to let him although he did not have a condom and I was just afraid there would be any signs of pre-cum so I said no. Any support on what I should do? I don't want that I'm too young etc because I think about that a lot and that's what puts me off a little but I honestly think I love him and we have been together for a good while considering one of my "friends" has never been in a relationship but has had multiple sexual partners at 15/16..