Going through the details you have provided, it appears that both of you are ignorant about the sexual intercourse technique. For the beginners, it is important to locate the passage. So for the first few times, you may do it in a lighted room. Subsequently, your partner can guide you. Don't become anxious, have patience and every thing should be alright. We also suggest that both of you read some good book on sex that explains the structure of genitals.