How Can Penis Pain During Intercourse Be Treated?

I am 28 years old and married. Generally I use condom during intercourse and there is no problem. But when I do sex without condom, sometimes there is pain in my penis. I have not removed penis foreskin. I had seen in blue films that, everyones penis foreskin has been removed. Is it nessesory to remove the penis foreskin for sex & cleaning purpose? If removed how much time takes to recover.