Does it hurt the male? No, generally not.
Does it hurt the female? It depends on whether or not her hymen is intact.
Activities during childhood such as horseriding (for example) can break the hymen, and hence the pain experienced upon first coitus is lessened.
As a matter of personal opinion, I believe in today's Western society girls are sexualised at such a young age that they are not likely to have intact hymens come adulthood. Not necessarily by means through coitus, but through masturbation and other sexual activity.
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