The biggest thing that helps is lube and taking things as slow as you need. You really can't use too much lube in this case. Start inserting things that are small, like your partners finger, and move up from there. As soon as anything hurts don't be afraid to stop for a minute, it takes getting used too! If you work up to it properly then yes, it can be great.
Having said that, you also need to be ready for it mentally before you start anything. You said to you it's "wrong." I would suggest really making peace with this issue before going ahead with anything, otherwise you may just regret it in the end. Also, if you're tense, you're not gonna get very far, it's all about letting go and being relaxed. Tension in this case will likely equal pain. Don't do it until you're sure about it.
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"The world is so exquisite with so much love and moral depth, that there is no reason to deceive ourselves with pretty stories for which there’s little good evidence. Far better it seems to me, in our vulnerability, is to look death in the eye and to be grateful every day for the brief but magnificent opportunity that life provides"
-Carl Sagan
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