This is important: Don't grab her genitals right away. And don't go right for her clitoris once you have her clothes off. YOU want her to put her hands on your penis asap, but that's not how women prefer to be aroused. Instead, you want to work your way with your hands, mouth and tongue slowly from the outside in.
Keep a slow and steady escalation of sensation happening and watch for her cues she wants more. Wait for her to invite you to give her oral. If she doesn't, ask her if she'd like you to go down on her. Some women are quite shy about having their genitals seen. So take your time.
If she green lights you going down on her, make sure you tell her how beautiful her Yoni looks to you. And how nice she smells and tastes, if that is true for you. Women are shy about their lady parts.
Also, don't just lick her clitoris. Work all around her vulva, inside and out. Alternate light sideways licks rapidly across her clitoris, with circles around it. Then slide your tongue up and down her slit, again being really present and enjoying the pleasure of her vulva on your tongue and lips.
If you can also play with her breasts and lightly twirl her nipples while your face is between her legs, this will turn her on to a higher level. What you're doing is slowly warming her fire up. You can take breaks and kiss and hug. She might offer to go down on you. You'll be really glad you manscaped now!
And then once she's ready for penetration and you have an erection, slide the condom on and ask her to help guide you in. Look her in the eyes. Tell her how much you're enjoying her and how beautiful she is. Ask her to tell you if she wants more or less speed or pressure at any time. Kiss her. Enjoy the pleasure of your bodies locked as one.
Premature ejaculation is the top concern of most guys. It's not easy to last when you're inside a woman. That's why giving her as many orgasms with your hands and mouth before penetration is good insurance that if you can't last that long the first time, she will still feel satisfied enough to have sex with you again. Keep breathing and relax. Slow down and even take a break if you must. Stamina comes with practice.