yes its normal. some women dont bleed when there hymens discharge. every womens different. you probably will never bleed unless your dry and tear from friction or his too big for you
you can loose your hymen a lot of diff ways...dont worry
The blood associated with loosing your virginity is on two parts. One stretching the vaginal cavity -some women can stretch easily or are already naturally wide set so there never needs to be blood from stretching. The second from the hymen breaking. Hymens can break pretty easily through tampon use, masturbation, an accident, or things like bike riding. Personally the first time I have only ever had bleeding was through... experimenting with positions with a guy who was very large. So yes, it's normal to have no blood on the first time, especially these days with the amount of bike riding, tampon using, etc. that occurs.