I've recently noticed that when I get an erection, my penis points toward my belly button and is quite stiff and uncomfortable to move to an upright position so it is pointing to the ceiling. Is this normal? If not, is there anything I can do
Not necessarily. Bodies are great at adapting, and I'm sure that you will find a position that is comfortable for both you and your partner. If you are fine masturbating then you will also be fine with sex.