If you want stop hitting the ground so hard, you will have to get closer to the ground before you do the roll. Thats why you land on the balls of your feet first and then go into the roll. This is how i do it, and it doessent hurt even when i do it on concrete. Also try to go from opposite shoulder to opposite hip. But never land on your shoulder, land on the meaty part of your back.
Also what part of New Hampshire are you from? Because our team is from New Hampshire as well.
Sometimes I get the roll perfect, then hit the top of my shoulder, I just need to practice the basic roll over and over.
I'm in Newmarket, noticed you're from Somersworth? Awesome

I drive through Durham to Portsmouth everyday. Do you guys go out often to train?