Cheshire, get some instilagel, hydrocaine or optilube from the chemist. They are gels designed for catheter care available without prescription at most pharmacies except Boots. They contain anesthetic, antiseptic and lubricant. They cost around £3 a syringe, they have a plastic tip. In hospital the nurse puts the tip slightly into the eye of the penis.At home just try to get some gel into the eye of the penis , do not try pulling the catheter out push the penis back to expose a bit more of the catheter and lube it.
These gels are designed for catheter use , many medical sites say do not use vaseline.