Is it possible to have without breaking hymen?

Me and my boyfriend had in a hottub, and it was my first time. But, his didn't go in that far in my , but it did go in. I don't think I bled, and it hurt like hell at first. The second time we did it, it still hurt a little but not as much. Do you think the reson it hurts is cuz my hymen did fully break or something? Just wondering, cuz i wouldnt mind having some that wasnt painful.