Well Woman Visit

I am 22, sexually active,

and have never had a Well Woman Visit or any sort of consult with a lady doctor. I have a grandma that died from breast cancer, and I recently found out that my mom has a tumor in her uterus. So I'm stressing and feel like I need to get checked out ASAP to make sure everything is okay with my body. I've been considering having my exam done at a Planned Parenthood. I've been several times for birth control and had good experiences but I'm a little worried because this will be much more invasive. Basically, I'm hoping to hear from anyone about their experience with this kind of doctor visit, especially if it was with Planned Parenthood and any advice on how to chill TF out until I get checked out!