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Like others have said, if she is having discomfort, you need to allow her more time to become aroused. When a woman is aroused, her uterus will actually contract putting less pressure on the cervix and giving you a little more room.
Also, it can be more uncomfortable for a woman when she is near menstruation for the same reason - weight/pressure on the cervix.
You can also do the doggy position with her legs closed and yours open (opposite of how it is usually done) which will prevent you from going too deep.
Also, it's common for a woman to feel the urge to pee when she is receiving g-spot stimulation...
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Most people go through life dreading they'll have a traumatic experience. Freaks were born with their trauma. They've already passed their test in life. They're aristocrats. - Diane Arbus
PESSIMISM, n. A philosophy forced upon the convictions of the observer by the disheartening prevalence of the optimist with his scarecrow hope and his unsightly smile. - Ambrose Bierce
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