My wife and I were doing it and she told me that I hurt her while was in her. I’m just average and wasn’t sure why I hurt her. We have done it many times since we met. I feel really bad and now I’m afraid to enter her and hurt her again she’s not mad at me it just bothers me and feel terrible about it.
I don't know what's causing it, but don't assume it was you. Maybe she should see a gyno. She might have a health issue that she isn't aware of like an infection. Whatever you do, make sure to address it soon. What you don't want to happen is to let it linger. You might get used to not having sex and have other thoughts about lack of intimacy creep in.
For you to get hard, your cock fills with blood. In a similar fashion, a woman's vagina lengthens, expands, and lubricates when she's sexually stimulated. If I were you, I'd try taking much more time in foreplay, really make love to her; all of her. How much longer? Ask her. If she cums during the process, so much the better. There's a lot more to love-making than just fucking. When penetrating her, I'd insert gently, gradually, and slowly. How slow? Ask her. Let her mount you; when on top, she can control how fast, slow, hard, gentle, deep, shallow. Use lube; liberally. My partner likes coconut oil. If you use a commercial concoction, make sure it's compatible with your condoms and toys, and your partner. Put a blob of it on a band-aid, and put it on the inside of her wrist. After several hours, if her skin shows any redness, rash, or itching, DON'T USE IT. Some days, the body just refuses to participate. C'est la vie. Accept it with equanimity and go do something else, but do it together. If painful intercourse becomes a recurrent problem, she should see her GYN.