Is it normal? Hell. My first time, I lasted literally about five seconds. It was: in, out, in, out, in, come. I've gotten much, much better since then.
For advice, I echo those already posted: find warm-up techniques that work for both of you, and don't think you have to quit just because you've gone off once.
Most women don't actually WANT lengthy intercourse. They get tired and sore pretty fast down there. Ten minutes is pretty long, actually. With lurkette, we're well warmed up by the time actual penetration happens, and the amount of time we're actually having vaginal sex is pretty short. But we've spent some quality time getting there.
