Can I use soap to clean my glansWill it hurt
It shouldn't hurt. And yes, you can use soap; just don't push soap into the urethra (ouch!). If it hurts then it means you haven't washed it before. In that case, you'd have to start out with just water (cup water against your stomach with one hand and drop it gently over the head). Eventually it'll desensitize. E-mail me from my profile if you have any questions.
Your glans?
If you mean glands, yeah, you can clean them from the outside and if they are swollen it will hurt. Just go easy.
If you haven't used soap by now it probably WILL hurt.
maybe try a gentle body wash made for sensitive skin and use a soft puff.
Okay, ill-educated, the glans is the head of the penis. If the OP is not circumcised, he may not have worked soap under there.
And he really should, because it's the only way to minimize the accumulation of smegma, which is odorous and a prime breeding ground for bacteria leading to infection.
Gently will do just fine. No scrubbing needed. Ease the foreskin back gradually. It's just skin under there and soap doesn't sting healthy skin.
it won't hurt unless you never cleaned it or if you just have senative glands some people just have it that way