unwanted hair

So the first time I ever shaved back when I was in the 6th grade I shaved my entire body LOL. Ever since then I get stubble directly under my belly button, my hair is so dark it's so noticeable. I can't wear a bathing suit or get naked infront of my boyfriend, I'm so self conscious about it. I pluck it sometimes because that seems to work sometimes but other times it just irritates the skin and becomes red or the hair is just too new to pluck out anymore. Can't have any random trips to the beach or pool because I don't know if my hair is long enough to be plucked yet. :( please help. What would you do?