This, such as the Missionary are deep penetration and is the most used position. A large penis is not needed to be able to pleasure a woman and is definately not something that should not hinder you, you're not even small, you are perfectly normal.
Also, if you're basing your size from your mates or Porn videos, then firstly, your friends are most likely lying, and porn videos are stupid, its nothing like the real thing and all the women in the videos are sluts.
Dude you're normal, also the average age for guys to lose virginity is 17-19... All those guys out there in your school talking about all the girls they get... Well, 3/4s of them are probably lying and never even seen a pussy.