Pap smear...

I am 21 & never had a Pap smear never even been on birth control.. I did however have a baby last year, i got tested for stds and came back clean. I’ve only had 3 sexual parters with 2 I did use condoms with my boyfriend I never did and I got pregnant anyway...

My mom never had us get checked out or even took us to the dr or dentist. I’m now on Medicaid and I’m looking for answers. My friend told me I was supposed have a Pap smear at 16 well when I became sexually active. Never had one so who do I call? My dr from when I was pregnant or someone else?