Is sex supposed to hurt in the beginning of it?

Recently, I had sex for the first time, and to be completely honest it hurt like shit. The next couple of times, I also experienced pain, but just in the very beginning as it gets more comfortable after a minute or two. It always feels like I’m “loosing my virginity” all over again in the very beginning of sex, is this normal? Will it always be uncomfortable before it gets comfortable? Cause after I’m done being uncomfortable it gets really comfortable if you get what I mean. I haven’t had sex that many times, but the feeling the first minute or two is always the same. I thought this might come from being unexperienced and since it went a couple of days and sometimes weeks between I thought this was normal. So I guess my question is; is it normal for it to feel uncomfortable before it feels comfortable? Is it always like that? If not normal, what causes it? How can I make it comfortable from the very start?

Thank you!