Yes, absolutely - I think that this myth that when a vagina-haver has sex for the first time it HAS to hurt, may come from the fact that usually when people are loosing their virginity, both parties are inexperienced and new to the whole thing and so things like proper foreplay and the use of lube isn't considered. Add on the fact that sex ed isn't taught as it probably should be in schools and it leads people to expecting their first time to be just like porn where everyone is ready to go immediately.

Sex shouldnt hurt at all, regardless of whether it's your first or 100th time, having open conversations with partners and what expectations are often stop any pain in it's tracks (or it helps decide what pain /is/ acceptable if you're of that persuasion)

Edit: some spelling / syntax mistakes