What Causes Bleeding And Brown Discharge After Intercourse?

hi i have had only two partners in my life and there penis shapes are shaped differntly with the first guy he is strait no curves or bends sex is great and never hurts and i am fine afterwards . but with the second guy,, ( we always use condoms) his penis has a slight curve downward everytime we have intercourse in the missonary style ( only in this position) position it feels like he is hitting something or jabbing something on the inside even if he goes slow. i alsways end up bleeding slightly then a few days to five days later i will have like a brownsish blood discharge until it fades away which usually takes a week... should i see a doctor is something terribly wrong?