Just talk it over beforehand. Imagine the different feelings and possibilities and be prepared for it. Then jump in together and remember to forgive eachother for any mistakes you both may make.
My first experience was fun for me. She wanted another man. I agreed. During our fun she felt ignored or not consulted. I made some mistakes attending to her and keeping her comfortable. We talked, I apologized, she forgave, we went into the next experience better prepared.
Jealousy, no. There does need to be a level of trust and devotion to eachother to prevent such things beforehand. Or just a polyamorous and open attitude that makes jealousy irrelevant.
Again, just talk before, be prepared for the unexpected. Know what she, in my case, needs. Talk after and make the next experience better.
Kali