I've researched various penile excercises in the past and I've heard many reports that it's girth that grows more than lenght. Because of this, I don't do any, mainly because my girth (7") is just at what I would consider the "comfort cutoff" for my girlfriend.
Starting right out with penetration is usually a no-no as it takes some preperation down there for her to take it, and we seem agree that any more girth would just be too much.