Getting de-robed, lubed up and all that other jazz does take time for sure. But lucky for you two, the right thing to do when you're just starting out on your sexual relationship or at least potential sexual relationship doesn't take but a moment to prepare and put to action.
I know you're super excited about the possibility of some good old PIV sex, It's a lot of fun for sure. Right now though, let's focus on your good girl. She deserves for her first time to be fun and enjoyable, at any rate, if it's not, she's not going to want to do it with you again.
Here's what you should try for now. I want you to go to any sex shop and buy some plain old unscented Unpleasure-intensifying, uncooling, unwarming-sensation small bottle of the cheapest water-based sex lube money can buy.
Then I want you to wash your hands really well, wash them like a surgeon!
Finally when the two of you have a couple spare moments, you can start by gently Inserting a single lubed finger into her cookie. Then just pay attention to her body language. Learn where the clitoris is. Learn the somewhat curvy path her vagina follows.
This kind of stuff is what one should be doing for her first time anyway, and lucky for you especially starting out will probably be brief.
Obviously don't take any big risks getting caught, and read several of the good how-to guides that are on here.