So I am a virgin...my parents never set me down and had “the talk” or any Sex Ed in school so please help me out!

I just started to try to finger myself and almost right when I put one finger in my vagina I feel something spongy and firm and kinda hard and can’t get past it. My finger can go under it a little but not through it. I also feel a little pressure in my pelvis. What is this? Should I be worried or go to a doctor?