If you have already had unprotected sex, then you can continue. You both have already most likely been exposed to whatever strain(s) of HPV you each brought into the relationship.
The only way to know for certain to know if you have any warts, lesions, or dysplasia on the outer cervix is to have a colposcopy and possibly a biopsy. Typically, colposcopies are not ordered unless the woman has had a bad pap smear. You can always ask your doctor, though.