Is this what sex is supposed to be like?

So I lost my virginity a few years ago but since then have not had sex. Until this weekend . The problem was that it brought up some questions that I had forgotten about since last time.

Now the event itself was a lot of fun. It came out of the blue but was was a sober casual thing. She enjoyed herself immensely and there were no 'equipment malfunctions' on my behalf, at least externally. My problem was that I did not really feel anything. Now I am not taking emotionally or anything, I actually just did not really have much sensation down there, while I sometimes felt that maybe I was maybe coming close to it I was never actually stimulated enough to come.

Now I was lucky this did not interfere with things with her, the fact that I was so turned on at having the whole sex thing; and that i love seeing a girl get off meant that she had no idea that I was having a problem.

Now perhaps this is a medical issue and should not be here but first I said I would ask, is this how sex is supposed to feel? I am not 'numb' or anything, there is just obvious, underwhelming lack of sensation, at one stage I did not even know if I was still inside or not. Now perhaps the problem is with a condom, I have always used them and dont actually know what non-condom sex is like. Perhaps if things go well with this one and she decides to go on the pill down the line we might stop but for now not using them isn't an option. Is there a huge difference with the feather-lite ones or are they much the same.

Any help or advice would be appreciated. We are meeting up again and i am presuming that the sex will happen again. But while I am looking forward to it I am feeling a bit underwhelmed. During my 'drought' I had an image in my head of what this was going to be like, nothing too porny but I had just presumed that it would more intense that solitaire sessions I was having myself. I am just afraid that next time it will be harder for me to perform and that she might catch on.