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Just do the same thing. You can't be perfect the first time. You have 2 options, 1 you move your hands around yourself and find what you are looking for, or 2 you have her show you. If you put your penis around where her vaginal opening should be, even if you haven't actually found it, and gently push you should start to slip in.
Are you guys skipping right to sex with no foreplay? Foreplay is going to make everything a lot easier, so do a lot of it. Plus, it is fun.
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