Besides using endpearls. Those cause fall damage, so no way. I also heard of the portal gun mod but you have to download the mod, and I don't want to because the last time I tried to install a mod I installed a virus instead. So mods are out of the question.
Can anyone tell me how to teleport on minecraft single player? Or how to use ender pearls without getting hurt?
Sorry about your bad mod experience. To teleport on single player, enable cheats at the start of a new world, and do:
/tp x: 10 y: 10 z: 10
Replace the 10s with whatever coordinate you want to. For example 200 blocks high would be y: 200
If you are already on a world without cheats then there's no way, sorry.
You need to have cheats enabled to be able to use commands. If they are, however, you can use this command:
/tp x: - y: - z: -
Replace the "-" with numbers and you will teleport to that location. Be careful, however, if you appear inside something you will be killed and if you appear to far above the ground you can still be killed with fall damage.
Sorry about your Mod problem. Have you considered a mod launcher instead? They download mods from the official sites and are virus free.