You simply have to. As long as you keep it in the front 1/2 to 1/3 (the surface opposite where your cords attach) it is not only painless, but for many, pleasurable. A full skewer is far more pleasurable and erotic, though. This also is the most pleasurable place to scramble, or "stir" them with an 18 or 20 gauge needle. Yes, causes damage, but who cares? It makes my orgasms even better.
Contrary to popular belief, this is quite painless if you skewer in the right place. As a matter of fact, usually it is pleasurable and very erotic. I orgasm much easier from it.