so this is embarrassing but I need advice!

I'm 24 and my boyfriend is 25! We've been together for 5 years and we've both discussed that marriage is in our future!  When we first started dating we tried to have sex but it hurt, I think I just get nervous and anxious and all clenched up! Well here we are 5 years later and I'm still holding onto my v-card 🙄🙄🙄 I love my boyfriend and appreciate him sticking out with me (he's not a virgin lol) and am just so over it!!! I'm so old to be a virgin and I just wanna have a normal, adult, mature relationship with my boyfriend!!! 😭😭😭😭 how do I get over myself?!?!