Yes, this was discussed briefly here. It is a horrible sitation when people only see a person's disability and cannot see the whole person. Disability rarely scares children any where near as much as parents fear. Children are quite accepting if their parents are accepting and often even if they...
You may be using the wrong size catheter. See if you can use a smaller circumference.
You may not be pushing it in far enough. The inside tip should be past your urethra - if it is not in far enough it will hurt.
You may need some lubrication. It may be too dry inside ad causing it to stick...