How to have proper sex?

Patient's question:

After many years of marriage, we have no children. I truly feel ashamed of disappointing my hometown parents. When I went to the hospital, a young and beautiful doctor checked me and said that during intercourse, I entered the urethra instead of the vagina. I was so embarrassed that I turned around and ran. After calming down, I realized I forgot to ask where the vagina was.
Staying up late at night under the dim light, I still had to take the legal route. I feel so ashamed. I can only secretly ask for advice here. Doctors, friends, and fellow brothers who have truly experienced this—please explain in detail. Thank you.

Doctor's answer:

Hello: The vagina is above the urethra. The vagina is located between the bladder, urethra, and rectum, forming a slightly flattened muscular tube with great elasticity. It is situated centrally at the outlet of the small pelvis and serves as a direct, slightly flattened muscular tube connecting the internal and external genitalia (uterus and vulva). Normally, the anterior and posterior walls are adjacent, appearing as a fissure-like structure. The upper end is wider and connects to the vaginal part of the cervix, encircling the cervix and forming a ring-like groove, known as the anterior, posterior, left, and right fornices. Among these, the posterior fornix is the deepest, making the posterior wall of the vagina (10-12 cm) longer than the anterior wall (7-9 cm). The anterior wall is adjacent to the bladder and urethra, while the upper part of the posterior wall is near the deep of the recto-uterine pouch, the middle part adheres to the rectum, and the lower part is separated from the anus by the perineal body, a fibrous tissue structure.
The apex of the posterior fornix is the recto-uterine pouch, the lowest point in the abdominal cavity. The posterior fornix is the primary site for the accumulation of semen after sexual intercourse, often referred to as the vaginal pool, which facilitates the entry of sperm into the uterine cavity.
The vaginal orifice is located in the rhomboid gap between the labia minora at the posterior part of the vaginal vestibule. Its shape and size vary greatly among individuals. If the vaginal orifice is narrow, it may cause difficulties during intercourse. In virgins, the vaginal orifice is covered by a ring-shaped mucosal fold called the hymen. This thin, membranous tissue contains connective tissue, blood vessels, and nerve endings, which can partially seal the vagina. The inner edge of the hymen is sharp and intact, and the hymen of unmarried women appears light red. The hymen is typically not completely sealed, with a small opening in the center, allowing menstrual blood to flow out after puberty. The shape, size, and membrane of the opening vary.

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