Hi - this pain is caused by your cervix (neck of your womb) being knocked about during penetration. We ALL know what that feels like, and it isn't pleasant.
It's difficult to say this, but it's usually caused by one of two things, or BOTH things. The first is that the guy is too large. The second is that the woman is not aroused enough. Or it can be a combination of both.
One position which helps avoid that nasty pain, is to lie in the missionary position but keep your legs together, so that you can control the depth of penetration. This is only a short-term answer; the only 'cure' is much more foreplay, more lubricant, and a lot of experimenting to find out which positions you can tolerate. Also, your partner needs to be both sympathetic and careful. If you have become afraid of this pain, you are hardly likely to be fully open and relaxed in your attitude towards penetration.
Good luck.
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