hi :D
Are you landing on your toes? You want to land on flat feet, unlike on floor. First practice with one of those small thin mats for putting over the beam, and try landing on that - that should take away the stinging while you practice it.
Also, I think keeping tight and strong helps with the stinging. I put chalk on my feet for beam also, but that's for the ripping and sanding off of the skin from the beam mostly - and to help not slip too.