I think there are some underlying issues here. I can't imagine what they are. But there's something a bit off.
You have been with this man for 30 years, so, in the context of a loving marriage, it doesn't make sense to me, that him slightly penetrating you, would make you so upset, that you can't stop sobbing in your bed. I just don't understand this. And I'm trying to, really I am.
There has to be more to this, surely.
I can remember relationships with boys, when I was around 18. There was lots of checking that I was ok, before moving to "next base"
In my marriage, absolutely not, because we both get carried away with the passion of the moment. And we are both grown adults.
Something has happened, to make you feel so low and vulnerable - what could it be? I am absolutely sure, that you do feel this way, and your feelings are real, but why?