first time?!

I've been with my boyfriend for almost 3 years, (I'm 16 He's 17) and I'm ready to have SEX with him. But I've always heard how bad it hurts? And I'm worried that I won't be "good" enough for him. 
He's never pressured me. He always told me to wait til I'm ready and I am. 
Please no comments on how I need to wait til I'm older. I just need advice