My penis is too big and my wife's vagina is too small.I can't penetrate my wife's vagina because i don't want to see her in pain.

We are married for the last two years and we would like to have a kid now.But without penetration , will it be possible? Also recently i checked my sperm count and the count is 6millions/ml and motility is 40%.

Is it possible for me to become a father?